diff --git "a/json/train/data-00002-of-00160.json" "b/json/train/data-00002-of-00160.json"
new file mode 100644--- /dev/null
+++ "b/json/train/data-00002-of-00160.json"
@@ -0,0 +1,4278 @@
+{"uid":"7361990789381321135","text":"\u003ctask:success:discrete:False\u003e\nadjust the left side portion of napkin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED: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 left side portion of napkin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: adjust the left side portion of napkin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please refill the fruit bowls in the MK. last 20 steps: 1- put a napkin on the right side white bowl 2- put an apple in the right side white bowl 3- put an orange in the right side white bowl 4- drag the bowl in left side of the table 5- put an orange in the right side white bowl 6- put an orange in the right side white bowl 7- put an apple in the right side white bowl 8- put an orange in the right side white bowl 9- put an orange in the right side white bowl 10- drag the bowl right-side on the table Q: immediate next step? \u003cPRED\u003eA: adjust the left side portion of napkin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please refill the fruit bowls in the MK Q: immediate next step? \u003cPRED\u003eA: adjust the left side portion of napkin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please refill the fruit bowls in the MK. last 20 steps: 1- put a napkin on the right side white bowl 2- put an apple in the right side white bowl 3- put an orange in the right side white bowl 4- drag the bowl in left side of the table 5- put an orange in the right side white bowl 6- put an orange in the right side white bowl 7- put an apple in the right side white bowl 8- put an orange in the right side white bowl 9- put an orange in the right side white bowl 10- drag the bowl right-side on the table Q: next 5 steps? \u003cPRED\u003eA: 1- adjust the left side portion of napkin 2- adjust the right side portion of napkin 3- put a napkin on the left side white bowl 4- put an apple in the left side bowl 5- put an apple in the left side bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nadjust the left side portion of napkin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16831413167154359233.mp4"}
+{"uid":"16999201157844301811","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put an apple in the left side bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput an apple in the left side bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put an apple in the left side bowl\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put a napkin on the left side white bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please refill the fruit bowls in the MK. last 20 steps: 1- put a napkin on the right side white bowl 2- put an apple in the right side white bowl 3- put an orange in the right side white bowl 4- drag the bowl in left side of the table 5- put an orange in the right side white bowl 6- put an orange in the right side white bowl 7- put an apple in the right side white bowl 8- put an orange in the right side white bowl 9- put an orange in the right side white bowl 10- drag the bowl right-side on the table 11- adjust the left side portion of napkin 12- adjust the right side portion of napkin 13- put a napkin on the left side white bowl Q: immediate next step? \u003cPRED\u003eA: put an apple in the left side bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput a napkin on the left side white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please refill the fruit bowls in the MK Q: immediate next step? \u003cPRED\u003eA: put an apple in the left side bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please refill the fruit bowls in the MK. last 20 steps: 1- put a napkin on the right side white bowl 2- put an apple in the right side white bowl 3- put an orange in the right side white bowl 4- drag the bowl in left side of the table 5- put an orange in the right side white bowl 6- put an orange in the right side white bowl 7- put an apple in the right side white bowl 8- put an orange in the right side white bowl 9- put an orange in the right side white bowl 10- drag the bowl right-side on the table 11- adjust the left side portion of napkin 12- adjust the right side portion of napkin 13- put a napkin on the left side white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put an apple in the left side bowl 2- put an apple in the left side bowl 3- put an apple in the left side bowl 4- put an apple in the left side bowl 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput an apple in the left side bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3911921118742562947.mp4"}
+{"uid":"17604855380451905582","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please refill the fruit bowls in the MK Q: immediate next step? \u003cPRED\u003eA: drag the bowl in left side of the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drag the bowl in left side of the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrag the bowl in left side of the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drag the bowl in left side of the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please refill the fruit bowls in the MK. last 20 steps: 1- put a napkin on the right side white bowl 2- put an apple in the right side white bowl 3- put an orange in the right side white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drag the bowl in left side of the table 2- put an orange in the right side white bowl 3- put an orange in the right side white bowl 4- put an apple in the right side white bowl 5- put an orange in the right side white bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please refill the fruit bowls in the MK. last 20 steps: 1- put a napkin on the right side white bowl 2- put an apple in the right side white bowl 3- put an orange in the right side white bowl Q: immediate next step? \u003cPRED\u003eA: drag the bowl in left side of the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrag the bowl in left side of the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8944152277255848820.mp4"}
+{"uid":"931203603795175616","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put an apple in the right side white bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please refill the fruit bowls in the MK. last 20 steps: 1- put a napkin on the right side white bowl 2- put an apple in the right side white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put an orange in the right side white bowl 2- drag the bowl in left side of the table 3- put an orange in the right side white bowl 4- put an orange in the right side white bowl 5- put an apple in the right side white bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput an apple in the right side 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:affordance:discriminative:discrete:True\u003e\nput an orange in the right side 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: Please refill the fruit bowls in the MK Q: immediate next step? \u003cPRED\u003eA: put an orange in the right side white bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put an orange in the right side white bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput an orange in the right side 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: Please refill the fruit bowls in the MK. last 20 steps: 1- put a napkin on the right side white bowl 2- put an apple in the right side white bowl Q: immediate next step? \u003cPRED\u003eA: put an orange in the right side white bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put an orange in the right side white bowl\n\u003c/PRED\u003e","video":"15801545266373623384.mp4"}
+{"uid":"7357530852943548127","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the orange packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"520902749782150888.mp4"}
+{"uid":"11882546789362519480","text":"\u003ctask:success:discrete:False\u003e\nclose the almirah Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the almirah\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the almirah\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Bring the microphone pouch from the cabinent to the table and close the cabinent afterwards. last 20 steps: 1- open the iron Almirah 2- pick up the mini black bag from the cardboard box 3- drop the mini black bag on the table Q: immediate next step? \u003cPRED\u003eA: close the almirah\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Bring the microphone pouch from the cabinent to the table and close the cabinent afterwards Q: immediate next step? \u003cPRED\u003eA: close the almirah\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the microphone bag on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the almirah Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Bring the microphone pouch from the cabinent to the table and close the cabinent afterwards. last 20 steps: 1- open the iron Almirah 2- pick up the mini black bag from the cardboard box 3- drop the mini black bag on the table Q: next 5 steps? \u003cPRED\u003eA: 1- close the almirah 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the microphone bag on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8227084798571607804.mp4"}
+{"uid":"4881438427966659774","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":"10917199026787567907.mp4"}
+{"uid":"12071650741268389063","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the packet in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4948276199088374199.mp4"}
+{"uid":"4402334925767119684","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":"7927033364855376691.mp4"}
+{"uid":"12024939481913531951","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":"10299267930521126285.mp4"}
+{"uid":"6751077068089131512","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Bring the microphone pouch from the cabinent to the table and close the cabinent afterwards. last 20 steps: 1- open the iron Almirah 2- pick up the mini black bag from the cardboard box 3- drop the mini black bag on the table 4- close the almirah Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Bring the microphone pouch from the cabinent to the table and close the cabinent afterwards. last 20 steps: 1- open the iron Almirah 2- pick up the mini black bag from the cardboard box 3- drop the mini black bag on the table 4- close the almirah Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close the almirah\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Bring the microphone pouch from the cabinent to the table and close the cabinent afterwards Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nclose the almirah Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10946738583309398678.mp4"}
+{"uid":"196267782035509942","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put an orange in the right side white bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put an orange in the right side white bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please refill the fruit bowls in the MK. last 20 steps: 1- put a napkin on the right side white bowl 2- put an apple in the right side white bowl 3- put an orange in the right side white bowl 4- drag the bowl in left side of the table Q: next 5 steps? \u003cPRED\u003eA: 1- put an orange in the right side white bowl 2- put an orange in the right side white bowl 3- put an apple in the right side white bowl 4- put an orange in the right side white bowl 5- put an orange in the right side white bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please refill the fruit bowls in the MK. last 20 steps: 1- put a napkin on the right side white bowl 2- put an apple in the right side white bowl 3- put an orange in the right side white bowl 4- drag the bowl in left side of the table Q: immediate next step? \u003cPRED\u003eA: put an orange in the right side white bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please refill the fruit bowls in the MK Q: immediate next step? \u003cPRED\u003eA: put an orange in the right side white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput an orange in the right side 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":"11183816156379298582.mp4"}
+{"uid":"7845973970046013890","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the microphone bag on the table\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the iron Almirah\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the microphone bag on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Bring the microphone pouch from the cabinent to the table and close the cabinent afterwards. last 20 steps: 1- open the iron Almirah Q: immediate next step? \u003cPRED\u003eA: put the microphone bag on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the microphone bag on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nopen the iron Almirah Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Bring the microphone pouch from the cabinent to the table and close the cabinent afterwards. last 20 steps: 1- open the iron Almirah Q: next 5 steps? \u003cPRED\u003eA: 1- put the microphone bag on the table 2- close the almirah 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the microphone bag on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Bring the microphone pouch from the cabinent to the table and close the cabinent afterwards Q: immediate next step? \u003cPRED\u003eA: put the microphone bag on the table\n\u003c/PRED\u003e","video":"5688897602412159685.mp4"}
+{"uid":"16042058420178688928","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput an apple in the left side bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED: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 an apple in the left side bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put an apple in the left side bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put an apple in the left side bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please refill the fruit bowls in the MK. last 20 steps: 1- put a napkin on the right side white bowl 2- put an apple in the right side white bowl 3- put an orange in the right side white bowl 4- drag the bowl in left side of the table 5- put an orange in the right side white bowl 6- put an orange in the right side white bowl 7- put an apple in the right side white bowl 8- put an orange in the right side white bowl 9- put an orange in the right side white bowl 10- drag the bowl right-side on the table 11- adjust the left side portion of napkin 12- adjust the right side portion of napkin 13- put a napkin on the left side white bowl 14- put an apple in the left side bowl Q: immediate next step? \u003cPRED\u003eA: put an apple in the left side bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please refill the fruit bowls in the MK Q: immediate next step? \u003cPRED\u003eA: put an apple in the left side bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put an apple in the left side bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please refill the fruit bowls in the MK. last 20 steps: 1- put a napkin on the right side white bowl 2- put an apple in the right side white bowl 3- put an orange in the right side white bowl 4- drag the bowl in left side of the table 5- put an orange in the right side white bowl 6- put an orange in the right side white bowl 7- put an apple in the right side white bowl 8- put an orange in the right side white bowl 9- put an orange in the right side white bowl 10- drag the bowl right-side on the table 11- adjust the left side portion of napkin 12- adjust the right side portion of napkin 13- put a napkin on the left side white bowl 14- put an apple in the left side bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put an apple in the left side bowl 2- put an apple in the left side bowl 3- put an apple in the left side bowl 4- done\n\u003c/PRED\u003e","video":"595501415188809895.mp4"}
+{"uid":"18084442342547619936","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":"14720532644014384223.mp4"}
+{"uid":"18372131356530140958","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you pour out the water out of the cup and then throw it away? Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you pour out the water out of the cup and then throw it away?. last 20 steps: 1- put the plastic sipper beside the kitchen sink 2- pour the water in the sink 3- put the plastic sipper in the Dustinbin Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you pour out the water out of the cup and then throw it away?. last 20 steps: 1- put the plastic sipper beside the kitchen sink 2- pour the water in the sink 3- put the plastic sipper in the Dustinbin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the plastic sipper in the Dustinbin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the plastic sipper in the Dustinbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3773528528573815745.mp4"}
+{"uid":"17222404337506719675","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the orange 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":"1974723613940950367.mp4"}
+{"uid":"3993402855596379694","text":"\u003ctask:success:discrete:False\u003e\npour the water in the sink Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npour the water in the sink Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pour the water in the sink\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you pour out the water out of the cup and then throw it away?. last 20 steps: 1- put the plastic sipper beside the kitchen sink Q: immediate next step? \u003cPRED\u003eA: pour the water in the sink\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the plastic sipper beside the kitchen sink\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you pour out the water out of the cup and then throw it away? Q: immediate next step? \u003cPRED\u003eA: pour the water in the sink\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pour the water in the sink\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the plastic sipper beside the kitchen sink Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you pour out the water out of the cup and then throw it away?. last 20 steps: 1- put the plastic sipper beside the kitchen sink Q: next 5 steps? \u003cPRED\u003eA: 1- pour the water in the sink 2- put the plastic sipper in the Dustinbin 3- done\n\u003c/PRED\u003e","video":"17278364279108290080.mp4"}
+{"uid":"9088411436998550531","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please refill the fruit bowls in the MK. last 20 steps: 1- put a napkin on the right side white bowl 2- put an apple in the right side white bowl 3- put an orange in the right side white bowl 4- drag the bowl in left side of the table 5- put an orange in the right side white bowl 6- put an orange in the right side white bowl 7- put an apple in the right side white bowl 8- put an orange in the right side white bowl 9- put an orange in the right side white bowl 10- drag the bowl right-side on the table 11- adjust the left side portion of napkin 12- adjust the right side portion of napkin 13- put a napkin on the left side white bowl 14- put an apple in the left side bowl 15- put an apple in the left side bowl 16- put an apple in the left side bowl Q: immediate next step? \u003cPRED\u003eA: put an apple in the left side bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put an apple in the left side bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput an apple in the left side 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put an apple in the left side bowl\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put an apple in the left side bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput an apple in the left side bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please refill the fruit bowls in the MK. last 20 steps: 1- put a napkin on the right side white bowl 2- put an apple in the right side white bowl 3- put an orange in the right side white bowl 4- drag the bowl in left side of the table 5- put an orange in the right side white bowl 6- put an orange in the right side white bowl 7- put an apple in the right side white bowl 8- put an orange in the right side white bowl 9- put an orange in the right side white bowl 10- drag the bowl right-side on the table 11- adjust the left side portion of napkin 12- adjust the right side portion of napkin 13- put a napkin on the left side white bowl 14- put an apple in the left side bowl 15- put an apple in the left side bowl 16- put an apple in the left side bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put an apple in the left side bowl 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please refill the fruit bowls in the MK Q: immediate next step? \u003cPRED\u003eA: put an apple in the left side bowl\n\u003c/PRED\u003e","video":"13261374900810095052.mp4"}
+{"uid":"1384927611413853979","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Bring the microphone pouch from the cabinent to the table and close the cabinent afterwards. last 20 steps: 1- open the iron Almirah 2- pick up the mini black bag from the cardboard box 3- drop the mini black bag on the table 4- Close the right gate of cupboard Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Close the right gate of cupboard\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Bring the microphone pouch from the cabinent to the table and close the cabinent afterwards Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nClose the right gate of cupboard Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Bring the microphone pouch from the cabinent to the table and close the cabinent afterwards. last 20 steps: 1- open the iron Almirah 2- pick up the mini black bag from the cardboard box 3- drop the mini black bag on the table 4- Close the right gate of cupboard Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"4116664376411063880.mp4"}
+{"uid":"8020775182026509742","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a napkin on the right side white bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a napkin on the right side white bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please refill the fruit bowls in the MK Q: immediate next step? \u003cPRED\u003eA: put a napkin on the right side white bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please refill the fruit bowls in the MK. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put a napkin on the right side white bowl 2- put an apple in the right side white bowl 3- put an orange in the right side white bowl 4- drag the bowl in left side of the table 5- put an orange in the right side white bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput a napkin on the right side 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: Please refill the fruit bowls in the MK. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put a napkin on the right side white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a napkin on the right side 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":"3073923331456293955.mp4"}
+{"uid":"5387233060797049451","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nenter into 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":"11041680126774706694.mp4"}
+{"uid":"861934855382678645","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the green object 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":"11643888371155264733.mp4"}
+{"uid":"1404867790487102629","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace pipcorn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3151854118171369086.mp4"}
+{"uid":"5157436970273455631","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please refill the fruit bowls in the MK Q: immediate next step? \u003cPRED\u003eA: put a napkin on the left side white bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please refill the fruit bowls in the MK. last 20 steps: 1- put a napkin on the right side white bowl 2- put an apple in the right side white bowl 3- put an orange in the right side white bowl 4- drag the bowl in left side of the table 5- put an orange in the right side white bowl 6- put an orange in the right side white bowl 7- put an apple in the right side white bowl 8- put an orange in the right side white bowl 9- put an orange in the right side white bowl 10- drag the bowl right-side on the table 11- adjust the left side portion of napkin 12- adjust the right side portion of napkin Q: immediate next step? \u003cPRED\u003eA: put a napkin on the left side white bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please refill the fruit bowls in the MK. last 20 steps: 1- put a napkin on the right side white bowl 2- put an apple in the right side white bowl 3- put an orange in the right side white bowl 4- drag the bowl in left side of the table 5- put an orange in the right side white bowl 6- put an orange in the right side white bowl 7- put an apple in the right side white bowl 8- put an orange in the right side white bowl 9- put an orange in the right side white bowl 10- drag the bowl right-side on the table 11- adjust the left side portion of napkin 12- adjust the right side portion of napkin Q: next 5 steps? \u003cPRED\u003eA: 1- put a napkin on the left side white bowl 2- put an apple in the left side bowl 3- put an apple in the left side bowl 4- put an apple in the left side bowl 5- put an apple in the left side bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput a napkin on the left side 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 a napkin on the left side 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 a napkin on the left side white bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a napkin on the left side white bowl\n\u003c/PRED\u003e","video":"7802067531955843554.mp4"}
+{"uid":"14993345552781400543","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Open the right gate of the cupboard\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nOpen the right gate of the cupboard Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11161507396455999472.mp4"}
+{"uid":"9462346012925426037","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please refill the fruit bowls in the MK. last 20 steps: 1- put a napkin on the right side white bowl 2- put an apple in the right side white bowl 3- put an orange in the right side white bowl 4- drag the bowl in left side of the table 5- put an orange in the right side white bowl 6- put an orange in the right side white bowl 7- put an apple in the right side white bowl 8- put an orange in the right side white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put an orange in the right side white bowl 2- drag the bowl right-side on the table 3- adjust the left side portion of napkin 4- adjust the right side portion of napkin 5- put a napkin on the left side white bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put an orange in the right side white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput an orange in the right side 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: Please refill the fruit bowls in the MK Q: immediate next step? \u003cPRED\u003eA: put an orange in the right side white bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put an orange in the right side white bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please refill the fruit bowls in the MK. last 20 steps: 1- put a napkin on the right side white bowl 2- put an apple in the right side white bowl 3- put an orange in the right side white bowl 4- drag the bowl in left side of the table 5- put an orange in the right side white bowl 6- put an orange in the right side white bowl 7- put an apple in the right side white bowl 8- put an orange in the right side white bowl Q: immediate next step? \u003cPRED\u003eA: put an orange in the right side white bowl\n\u003c/PRED\u003e","video":"154640235898317314.mp4"}
+{"uid":"13645665721791513952","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":"8998700046419030105.mp4"}
+{"uid":"17960518570422600654","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6514237145577232005.mp4"}
+{"uid":"11765178455395018073","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Bring the microphone pouch from the cabinent to the table and close the cabinent afterwards Q: immediate next step? \u003cPRED\u003eA: drop the mini black bag on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the mini black bag on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Bring the microphone pouch from the cabinent to the table and close the cabinent afterwards. last 20 steps: 1- open the iron Almirah 2- pick up the mini black bag from the cardboard box Q: immediate next step? \u003cPRED\u003eA: drop the mini black bag on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the mini black bag on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the mini black bag on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Bring the microphone pouch from the cabinent to the table and close the cabinent afterwards. last 20 steps: 1- open the iron Almirah 2- pick up the mini black bag from the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- drop the mini black bag on the table 2- close the almirah 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the mini black bag on the table\n\u003c/PRED\u003e","video":"11224436201746478531.mp4"}
+{"uid":"14658521899788286659","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the almirah\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Bring the microphone pouch from the cabinent to the table and close the cabinent afterwards. last 20 steps: 1- open the iron Almirah 2- pick up the mini black bag from the cardboard box 3- drop the mini black bag on the table Q: immediate next step? \u003cPRED\u003eA: close the almirah\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Bring the microphone pouch from the cabinent to the table and close the cabinent afterwards Q: immediate next step? \u003cPRED\u003eA: close the almirah\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the almirah Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Bring the microphone pouch from the cabinent to the table and close the cabinent afterwards. last 20 steps: 1- open the iron Almirah 2- pick up the mini black bag from the cardboard box 3- drop the mini black bag on the table Q: next 5 steps? \u003cPRED\u003eA: 1- close the almirah 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the almirah\n\u003c/PRED\u003e","video":"16901029985527094805.mp4"}
+{"uid":"15850081952209788695","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put a napkin on the right side white bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please refill the fruit bowls in the MK. last 20 steps: 1- put a napkin on the right side white bowl Q: immediate next step? \u003cPRED\u003eA: put an apple in the right side white bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput an apple in the right side white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please refill the fruit bowls in the MK. last 20 steps: 1- put a napkin on the right side white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put an apple in the right side white bowl 2- put an orange in the right side white bowl 3- drag the bowl in left side of the table 4- put an orange in the right side white bowl 5- put an orange in the right side white bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput a napkin on the right side 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put an apple in the right side white bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put an apple in the right side white bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please refill the fruit bowls in the MK Q: immediate next step? \u003cPRED\u003eA: put an apple in the right side white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput an apple in the right side 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":"3074348736692928140.mp4"}
+{"uid":"2854646470079473301","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":"7056375613710367973.mp4"}
+{"uid":"3121998706943465467","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please refill the fruit bowls in the MK. last 20 steps: 1- put a napkin on the right side white bowl 2- put an apple in the right side white bowl 3- put an orange in the right side white bowl 4- drag the bowl in left side of the table 5- put an orange in the right side white bowl 6- put an orange in the right side white bowl 7- put an apple in the right side white bowl 8- put an orange in the right side white bowl 9- put an orange in the right side white bowl Q: immediate next step? \u003cPRED\u003eA: drag the bowl right-side on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrag the bowl right-side on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrag the bowl right-side on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please refill the fruit bowls in the MK Q: immediate next step? \u003cPRED\u003eA: drag the bowl right-side on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drag the bowl right-side on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please refill the fruit bowls in the MK. last 20 steps: 1- put a napkin on the right side white bowl 2- put an apple in the right side white bowl 3- put an orange in the right side white bowl 4- drag the bowl in left side of the table 5- put an orange in the right side white bowl 6- put an orange in the right side white bowl 7- put an apple in the right side white bowl 8- put an orange in the right side white bowl 9- put an orange in the right side white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drag the bowl right-side on the table 2- adjust the left side portion of napkin 3- adjust the right side portion of napkin 4- put a napkin on the left side white bowl 5- put an apple in the left side bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drag the bowl right-side on the table\n\u003c/PRED\u003e","video":"11959948672712242031.mp4"}
+{"uid":"382681294191148772","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Bring the microphone pouch from the cabinent to the table and close the cabinent afterwards. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Open the right gate of the cupboard\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open the right gate of the cupboard\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Bring the microphone pouch from the cabinent to the table and close the cabinent afterwards. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Open the right gate of the cupboard 2- pick up the mini black bag from the cardboard box 3- drop the mini black bag on the table 4- close the almirah 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Bring the microphone pouch from the cabinent to the table and close the cabinent afterwards Q: immediate next step? \u003cPRED\u003eA: Open the right gate of the cupboard\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Open the right gate of the cupboard\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nOpen the right gate of the cupboard Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen the right gate of the cupboard Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"354618263427414546.mp4"}
+{"uid":"9000401757216266298","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Bring the microphone pouch from the cabinent to the table and close the cabinent afterwards. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the mini black bag from the cardboard box 2- drop the mini black bag on the table 3- close the almirah 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Bring the microphone pouch from the cabinent to the table and close the cabinent afterwards Q: immediate next step? \u003cPRED\u003eA: pick up the mini black bag from the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the mini black bag from 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: Bring the microphone pouch from the cabinent to the table and close the cabinent afterwards. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick up the mini black bag from the cardboard box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the mini black bag from the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the mini black bag from the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the mini black bag from 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":"18392165861091504436.mp4"}
+{"uid":"16934992995851326032","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the snacks packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3506710183774218919.mp4"}
+{"uid":"5675513499517739596","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the plastic sipper beside the kitchen sink\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the plastic sipper beside the kitchen sink\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you pour out the water out of the cup and then throw it away?. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the plastic sipper beside the kitchen sink 2- pour the water in the sink 3- put the plastic sipper in the Dustinbin 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you pour out the water out of the cup and then throw it away?. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the plastic sipper beside the kitchen sink\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you pour out the water out of the cup and then throw it away? Q: immediate next step? \u003cPRED\u003eA: put the plastic sipper beside the kitchen sink\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the plastic sipper beside the kitchen sink Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the plastic sipper beside the kitchen sink Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"824735707960343218.mp4"}
+{"uid":"7878740568535763916","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Close the right gate of cupboard\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nClose the right gate of cupboard Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Bring the microphone pouch from the cabinent to the table and close the cabinent afterwards. last 20 steps: 1- open the iron Almirah 2- pick up the mini black bag from the cardboard box 3- drop the mini black bag on the table Q: immediate next step? \u003cPRED\u003eA: Close the right gate of cupboard\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Close the right gate of cupboard\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Bring the microphone pouch from the cabinent to the table and close the cabinent afterwards. last 20 steps: 1- open the iron Almirah 2- pick up the mini black bag from the cardboard box 3- drop the mini black bag on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Close the right gate of cupboard 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Bring the microphone pouch from the cabinent to the table and close the cabinent afterwards Q: immediate next step? \u003cPRED\u003eA: Close the right gate of cupboard\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nClose the right gate of cupboard Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14137233171343866299.mp4"}
+{"uid":"1221551729355348323","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put an apple in the left side bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please refill the fruit bowls in the MK. last 20 steps: 1- put a napkin on the right side white bowl 2- put an apple in the right side white bowl 3- put an orange in the right side white bowl 4- drag the bowl in left side of the table 5- put an orange in the right side white bowl 6- put an orange in the right side white bowl 7- put an apple in the right side white bowl 8- put an orange in the right side white bowl 9- put an orange in the right side white bowl 10- drag the bowl right-side on the table 11- adjust the left side portion of napkin 12- adjust the right side portion of napkin 13- put a napkin on the left side white bowl 14- put an apple in the left side bowl 15- put an apple in the left side bowl 16- put an apple in the left side bowl 17- put an apple in the left side bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please refill the fruit bowls in the MK. last 20 steps: 1- put a napkin on the right side white bowl 2- put an apple in the right side white bowl 3- put an orange in the right side white bowl 4- drag the bowl in left side of the table 5- put an orange in the right side white bowl 6- put an orange in the right side white bowl 7- put an apple in the right side white bowl 8- put an orange in the right side white bowl 9- put an orange in the right side white bowl 10- drag the bowl right-side on the table 11- adjust the left side portion of napkin 12- adjust the right side portion of napkin 13- put a napkin on the left side white bowl 14- put an apple in the left side bowl 15- put an apple in the left side bowl 16- put an apple in the left side bowl 17- put an apple in the left side bowl Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please refill the fruit bowls in the MK Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput an apple in the left side 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":"9970431786786908006.mp4"}
+{"uid":"3614239078365192975","text":"\u003ctask:success:discrete:False\u003e\nput an orange in the right side white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please refill the fruit bowls in the MK. last 20 steps: 1- put a napkin on the right side white bowl 2- put an apple in the right side white bowl 3- put an orange in the right side white bowl 4- drag the bowl in left side of the table 5- put an orange in the right side white bowl 6- put an orange in the right side white bowl 7- put an apple in the right side white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put an orange in the right side white bowl 2- put an orange in the right side white bowl 3- drag the bowl right-side on the table 4- adjust the left side portion of napkin 5- adjust the right side portion of napkin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please refill the fruit bowls in the MK Q: immediate next step? \u003cPRED\u003eA: put an orange in the right side white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput an orange in the right side 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 an orange in the right side white bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put an orange in the right side white bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please refill the fruit bowls in the MK. last 20 steps: 1- put a napkin on the right side white bowl 2- put an apple in the right side white bowl 3- put an orange in the right side white bowl 4- drag the bowl in left side of the table 5- put an orange in the right side white bowl 6- put an orange in the right side white bowl 7- put an apple in the right side white bowl Q: immediate next step? \u003cPRED\u003eA: put an orange in the right side white bowl\n\u003c/PRED\u003e","video":"14664355535120916988.mp4"}
+{"uid":"6061742278059369982","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"7741474020312556819.mp4"}
+{"uid":"9948847988683047598","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put an apple in the left side bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please refill the fruit bowls in the MK. last 20 steps: 1- put a napkin on the right side white bowl 2- put an apple in the right side white bowl 3- put an orange in the right side white bowl 4- drag the bowl in left side of the table 5- put an orange in the right side white bowl 6- put an orange in the right side white bowl 7- put an apple in the right side white bowl 8- put an orange in the right side white bowl 9- put an orange in the right side white bowl 10- drag the bowl right-side on the table 11- adjust the left side portion of napkin 12- adjust the right side portion of napkin 13- put a napkin on the left side white bowl 14- put an apple in the left side bowl 15- put an apple in the left side bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put an apple in the left side bowl 2- put an apple in the left side bowl 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put an apple in the left side bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please refill the fruit bowls in the MK. last 20 steps: 1- put a napkin on the right side white bowl 2- put an apple in the right side white bowl 3- put an orange in the right side white bowl 4- drag the bowl in left side of the table 5- put an orange in the right side white bowl 6- put an orange in the right side white bowl 7- put an apple in the right side white bowl 8- put an orange in the right side white bowl 9- put an orange in the right side white bowl 10- drag the bowl right-side on the table 11- adjust the left side portion of napkin 12- adjust the right side portion of napkin 13- put a napkin on the left side white bowl 14- put an apple in the left side bowl 15- put an apple in the left side bowl Q: immediate next step? \u003cPRED\u003eA: put an apple in the left side bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please refill the fruit bowls in the MK Q: immediate next step? \u003cPRED\u003eA: put an apple in the left side bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput an apple in the left side bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput an apple in the left side bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put an apple in the left side bowl\n\u003c/PRED\u003e","video":"2166294859883582648.mp4"}
+{"uid":"931585962152744858","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace coffee cups in stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12651105377684341657.mp4"}
+{"uid":"71882014627147117","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":"9353245773840146503.mp4"}
+{"uid":"11140486414777428700","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please refill the fruit bowls in the MK. last 20 steps: 1- put a napkin on the right side white bowl 2- put an apple in the right side white bowl 3- put an orange in the right side white bowl 4- drag the bowl in left side of the table 5- put an orange in the right side white bowl 6- put an orange in the right side white bowl 7- put an apple in the right side white bowl 8- put an orange in the right side white bowl 9- put an orange in the right side white bowl 10- drag the bowl right-side on the table 11- adjust the left side portion of napkin Q: immediate next step? \u003cPRED\u003eA: adjust the right side portion of napkin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nadjust the right side portion of napkin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please refill the fruit bowls in the MK. last 20 steps: 1- put a napkin on the right side white bowl 2- put an apple in the right side white bowl 3- put an orange in the right side white bowl 4- drag the bowl in left side of the table 5- put an orange in the right side white bowl 6- put an orange in the right side white bowl 7- put an apple in the right side white bowl 8- put an orange in the right side white bowl 9- put an orange in the right side white bowl 10- drag the bowl right-side on the table 11- adjust the left side portion of napkin Q: next 5 steps? \u003cPRED\u003eA: 1- adjust the right side portion of napkin 2- put a napkin on the left side white bowl 3- put an apple in the left side bowl 4- put an apple in the left side bowl 5- put an apple in the left side bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: adjust the right side portion of napkin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nadjust the right side portion of napkin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please refill the fruit bowls in the MK Q: immediate next step? \u003cPRED\u003eA: adjust the right side portion of napkin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: adjust the right side portion of napkin\n\u003c/PRED\u003e","video":"4795476220805538698.mp4"}
+{"uid":"14719365858057003965","text":"\u003ctask:success:discrete:True\u003e\npick up the mini black bag from the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the mini black bag from the cardboard box\n\u003c/PRED\u003e","video":"9212734176980188534.mp4"}
+{"uid":"14104620238261870507","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":"2165871917962555109.mp4"}
+{"uid":"1772009438786941728","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace numi 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":"8946946125326108451.mp4"}
+{"uid":"3078265559823630624","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachio 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":"4207287407170505613.mp4"}
+{"uid":"9779991376726759736","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the red marker in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12823367873087852443.mp4"}
+{"uid":"6865895840477519503","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":"13565311834107916207.mp4"}
+{"uid":"13077951949924720921","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachio in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15186047333590764165.mp4"}
+{"uid":"1178843759978761575","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nrestack the cups into the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3250604646482700404.mp4"}
+{"uid":"3542925204142265522","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":"2007205812375585229.mp4"}
+{"uid":"4376581445609888174","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the almirah\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nopen the almirah Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2579394315893662617.mp4"}
+{"uid":"7541074608612513977","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the apple in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13950288304987397891.mp4"}
+{"uid":"6748224037797170785","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Bring the microphone pouch from the cabinent to the table and close the cabinent afterwards. last 20 steps: 1- open the iron Almirah 2- pick up the mini black bag from the cardboard box 3- drop the mini black bag on the table 4- close the almirah Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nclose the almirah Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Bring the microphone pouch from the cabinent to the table and close the cabinent afterwards Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Bring the microphone pouch from the cabinent to the table and close the cabinent afterwards. last 20 steps: 1- open the iron Almirah 2- pick up the mini black bag from the cardboard box 3- drop the mini black bag on the table 4- close the almirah Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close the almirah\n\u003c/PRED\u003e","video":"14210268355045088103.mp4"}
+{"uid":"5099892762364823174","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put an orange in the right side white bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please refill the fruit bowls in the MK Q: immediate next step? \u003cPRED\u003eA: put an orange in the right side white bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please refill the fruit bowls in the MK. last 20 steps: 1- put a napkin on the right side white bowl 2- put an apple in the right side white bowl 3- put an orange in the right side white bowl 4- drag the bowl in left side of the table 5- put an orange in the right side white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put an orange in the right side white bowl 2- put an apple in the right side white bowl 3- put an orange in the right side white bowl 4- put an orange in the right side white bowl 5- drag the bowl right-side on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please refill the fruit bowls in the MK. last 20 steps: 1- put a napkin on the right side white bowl 2- put an apple in the right side white bowl 3- put an orange in the right side white bowl 4- drag the bowl in left side of the table 5- put an orange in the right side white bowl Q: immediate next step? \u003cPRED\u003eA: put an orange in the right side white bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put an orange in the right side white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput an orange in the right side 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":"7613984244313661676.mp4"}
+{"uid":"18184231893138913999","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: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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Bring the microphone pouch from the cabinent to the table and close the cabinent afterwards. last 20 steps: 1- open the iron Almirah Q: immediate next step? \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:planning:freeform\u003e\ncurrent goal is: Bring the microphone pouch from the cabinent to the table and close the cabinent afterwards 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: Bring the microphone pouch from the cabinent to the table and close the cabinent afterwards. last 20 steps: 1- open the iron Almirah Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet on the table 2- close the almirah 3- done\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":"16358295233356843535.mp4"}
+{"uid":"9557082250950255004","text":"\u003ctask:success:discrete:False\u003e\nput an apple in the right side 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: Please refill the fruit bowls in the MK. last 20 steps: 1- put a napkin on the right side white bowl 2- put an apple in the right side white bowl 3- put an orange in the right side white bowl 4- drag the bowl in left side of the table 5- put an orange in the right side white bowl 6- put an orange in the right side white bowl Q: immediate next step? \u003cPRED\u003eA: put an apple in the right side white bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please refill the fruit bowls in the MK Q: immediate next step? \u003cPRED\u003eA: put an apple in the right side white bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put an apple in the right side white bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please refill the fruit bowls in the MK. last 20 steps: 1- put a napkin on the right side white bowl 2- put an apple in the right side white bowl 3- put an orange in the right side white bowl 4- drag the bowl in left side of the table 5- put an orange in the right side white bowl 6- put an orange in the right side white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put an apple in the right side white bowl 2- put an orange in the right side white bowl 3- put an orange in the right side white bowl 4- drag the bowl right-side on the table 5- adjust the left side portion of napkin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put an apple in the right side white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput an apple in the right side 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":"15955351799986485807.mp4"}
+{"uid":"15470898532113095335","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick the green highlighter from the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3906585343909795577.mp4"}
+{"uid":"15022583640369418146","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":"4409259548126199442.mp4"}
+{"uid":"17350072873685043951","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop green jalapena chip bag in basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15087755167074695690.mp4"}
+{"uid":"6702819707613915209","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you pour out the water out of the cup and then throw it away?. last 20 steps: 1- put the plastic sipper beside the kitchen sink 2- pour the water in the sink Q: immediate next step? \u003cPRED\u003eA: put the plastic sipper in the Dustinbin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the plastic sipper in the Dustinbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 water in the sink\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npour the water in the sink Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the plastic sipper in the Dustinbin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the plastic sipper in the Dustinbin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you pour out the water out of the cup and then throw it away? Q: immediate next step? \u003cPRED\u003eA: put the plastic sipper in the Dustinbin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the plastic sipper in the Dustinbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you pour out the water out of the cup and then throw it away?. last 20 steps: 1- put the plastic sipper beside the kitchen sink 2- pour the water in the sink Q: next 5 steps? \u003cPRED\u003eA: 1- put the plastic sipper in the Dustinbin 2- done\n\u003c/PRED\u003e","video":"8052992887930006738.mp4"}
+{"uid":"8244029021277693924","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6680008564383716156.mp4"}
+{"uid":"1476098203958756399","text":"\u003ctask:success:discrete:True\u003e\ndrop the mini black bag on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the mini black bag on the table\n\u003c/PRED\u003e","video":"11228947473846976637.mp4"}
+{"uid":"17935545621572663763","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput sticky notes 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":"1841538968804466334.mp4"}
+{"uid":"15973340090525438305","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13257816275619655722.mp4"}
+{"uid":"16025219594368699048","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":"3440859805304068442.mp4"}
+{"uid":"240537540991928496","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the holder on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the holder 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":"6370157424131230138.mp4"}
+{"uid":"4883679157891339838","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the knife in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and then take out the mesh containers. set them on the table, then out the utensils that are in the cabinate and sort them in each container. last 20 steps: 1- open the drawer 2- put the holder on the table 3- invert the holder 4- put the holder on the table 5- place the holder on the table 6- keep the forks in the 1st stand 7- keep the spoons in the 2nd stand 8- place the knife in the holder 9- place the knife in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the knife in the holder 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and then take out the mesh containers. set them on the table, then out the utensils that are in the cabinate and sort them in each container. last 20 steps: 1- open the drawer 2- put the holder on the table 3- invert the holder 4- put the holder on the table 5- place the holder on the table 6- keep the forks in the 1st stand 7- keep the spoons in the 2nd stand 8- place the knife in the holder 9- place the knife in the holder Q: immediate next step? \u003cPRED\u003eA: place the knife in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the knife in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the knife 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: open the cabinate and then take out the mesh containers. set them on the table, then out the utensils that are in the cabinate and sort them in each container. Q: immediate next step? \u003cPRED\u003eA: place the knife in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the knife 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":"640352815844104327.mp4"}
+{"uid":"1130853477872463134","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\narrange a 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":"7119998209205007501.mp4"}
+{"uid":"14062407668335551764","text":"\u003ctask:success:discrete:True\u003e\nkeep the 3rd stand on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: keep the 3rd stand on the table\n\u003c/PRED\u003e","video":"16575035413469826670.mp4"}
+{"uid":"18215840435454498082","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the spoon in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3324222769973261493.mp4"}
+{"uid":"12499990815830325952","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace 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":"14445084305223136438.mp4"}
+{"uid":"8487623988993307693","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nkeep glass having candies on the other table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8208427446043680146.mp4"}
+{"uid":"14170455736756995520","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange 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":"15813555033810238370.mp4"}
+{"uid":"7615571065201700225","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and then take out the mesh containers. set them on the table, then out the utensils that are in the cabinate and sort them in each container. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Open the drawer 2- invert the holder 3- put the holder on the table 4- place the holder on the table 5- keep the forks in the 1st stand\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:planning:freeform\u003e\ncurrent goal is: open the cabinate and then take out the mesh containers. set them on the table, then out the utensils that are in the cabinate and sort them in each container. Q: immediate next step? \u003cPRED\u003eA: Open the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and then take out the mesh containers. set them on the table, then out the utensils that are in the cabinate and sort them in each container. last 20 steps: none 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":"18007729258731626057.mp4"}
+{"uid":"1408870785079193296","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and then take out the mesh containers. set them on the table, then out the utensils that are in the cabinate and sort them in each container. last 20 steps: 1- open the drawer 2- put the holder on the table 3- invert the holder 4- put the holder on the table 5- place the holder on the table 6- keep the forks in the 1st stand 7- keep the spoons in the 2nd stand 8- place the knife in the holder 9- place the knife in the holder Q: immediate next step? \u003cPRED\u003eA: place the knife in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and then take out the mesh containers. set them on the table, then out the utensils that are in the cabinate and sort them in each container. last 20 steps: 1- open the drawer 2- put the holder on the table 3- invert the holder 4- put the holder on the table 5- place the holder on the table 6- keep the forks in the 1st stand 7- keep the spoons in the 2nd stand 8- place the knife in the holder 9- place the knife in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the knife in the holder 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the knife 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 knife in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cabinate and then take out the mesh containers. set them on the table, then out the utensils that are in the cabinate and sort them in each container. Q: immediate next step? \u003cPRED\u003eA: place the knife in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the knife 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 knife in the holder\n\u003c/PRED\u003e","video":"9656262759874300409.mp4"}
+{"uid":"4986341188767567254","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the fork in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the 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":"7387521876936812297.mp4"}
+{"uid":"12244210757675749281","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the green mug on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9079101212341434524.mp4"}
+{"uid":"2774453275310991192","text":"\u003ctask:success:discrete:True\u003e\nkeep the 1st stand on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: keep the 1st stand on the table\n\u003c/PRED\u003e","video":"6331196289355772900.mp4"}
+{"uid":"2446052200841224478","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white cloth in the dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3925555740722759523.mp4"}
+{"uid":"1694972451018276026","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: keep the spoons in the 2nd stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and then take out the mesh containers. set them on the table, then out the utensils that are in the cabinate and sort them in each container. last 20 steps: 1- open the drawer 2- put the holder on the table 3- invert the holder 4- put the holder on the table 5- place the holder on the table 6- keep the forks in the 1st stand Q: immediate next step? \u003cPRED\u003eA: keep the spoons in the 2nd stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nkeep the spoons in the 2nd 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: keep the spoons in the 2nd stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and then take out the mesh containers. set them on the table, then out the utensils that are in the cabinate and sort them in each container. last 20 steps: 1- open the drawer 2- put the holder on the table 3- invert the holder 4- put the holder on the table 5- place the holder on the table 6- keep the forks in the 1st stand Q: next 5 steps? \u003cPRED\u003eA: 1- keep the spoons in the 2nd stand 2- place the knife in the holder 3- place the knife in the holder 4- keep the knives in the 3rd stand 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cabinate and then take out the mesh containers. set them on the table, then out the utensils that are in the cabinate and sort them in each container. Q: immediate next step? \u003cPRED\u003eA: keep the spoons in the 2nd stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nkeep the spoons in the 2nd 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":"1154868448363766714.mp4"}
+{"uid":"3576985669059274067","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the apple inn 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":"15053013807058556662.mp4"}
+{"uid":"11877468391350816629","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the blue pen in the right holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13962511467013315978.mp4"}
+{"uid":"13048124367520420213","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the black pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13346652740480093522.mp4"}
+{"uid":"10548931910803792622","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17790933609526501499.mp4"}
+{"uid":"8060694718297850161","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: keep the 1st stand on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nkeep the 1st stand on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cabinate and then take out the mesh containers. set them on the table, then out the utensils that are in the cabinate and sort them in each container. Q: immediate next step? \u003cPRED\u003eA: keep the 1st stand on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: keep the 1st stand on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nkeep the 1st stand on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and then take out the mesh containers. set them on the table, then out the utensils that are in the cabinate and sort them in each container. last 20 steps: 1- open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- keep the 1st stand on the table 2- place the holder on the table 3- keep the forks in the 1st stand 4- keep the spoons in the 2nd stand 5- place the knife in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and then take out the mesh containers. set them on the table, then out the utensils that are in the cabinate and sort them in each container. last 20 steps: 1- open the drawer Q: immediate next step? \u003cPRED\u003eA: keep the 1st stand on the table\n\u003c/PRED\u003e","video":"103879840566403206.mp4"}
+{"uid":"9893047250247643575","text":"\u003ctask:success:discrete:False\u003e\nput the holder on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED: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 cabinate and then take out the mesh containers. set them on the table, then out the utensils that are in the cabinate and sort them in each container. last 20 steps: 1- open the drawer 2- put the holder on the table 3- invert the holder Q: immediate next step? \u003cPRED\u003eA: put the holder on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the holder on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the holder on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the holder on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 cabinate and then take out the mesh containers. set them on the table, then out the utensils that are in the cabinate and sort them in each container. last 20 steps: 1- open the drawer 2- put the holder on the table 3- invert the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the holder on the table 2- place the holder on the table 3- keep the forks in the 1st stand 4- keep the spoons in the 2nd stand 5- place the knife in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cabinate and then take out the mesh containers. set them on the table, then out the utensils that are in the cabinate and sort them in each container. Q: immediate next step? \u003cPRED\u003eA: put the holder on the table\n\u003c/PRED\u003e","video":"867803795643028603.mp4"}
+{"uid":"18301395780724158961","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":"9677393665645109249.mp4"}
+{"uid":"2317870813926775517","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and then take out the mesh containers. set them on the table, then out the utensils that are in the cabinate and sort them in each container. last 20 steps: 1- open the drawer 2- put the holder on the table Q: immediate next step? \u003cPRED\u003eA: place the holder to the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the holder 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:discriminative:discrete:True\u003e\nplace the holder 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: open the cabinate and then take out the mesh containers. set them on the table, then out the utensils that are in the cabinate and sort them in each container. Q: immediate next step? \u003cPRED\u003eA: place the holder to the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the holder to the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the holder to the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and then take out the mesh containers. set them on the table, then out the utensils that are in the cabinate and sort them in each container. last 20 steps: 1- open the drawer 2- put the holder on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the holder to the table 2- place the holder on the table 3- keep the forks in the 1st stand 4- keep the spoons in the 2nd stand 5- place the knife in the holder\n\u003c/PRED\u003e","video":"8407284577617875528.mp4"}
+{"uid":"13238811888873317761","text":"\u003ctask:success:discrete:True\u003e\nkeep the forks in the 1st 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: keep the forks in the 1st stand\n\u003c/PRED\u003e","video":"6317715222193239781.mp4"}
+{"uid":"1803118253332569346","text":"\u003ctask:success:discrete:True\u003e\nplace the holder in 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 holder in the table\n\u003c/PRED\u003e","video":"11548877868696816168.mp4"}
+{"uid":"13668569407341919251","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the knife in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the knife 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 knife 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: open the cabinate and then take out the mesh containers. set them on the table, then out the utensils that are in the cabinate and sort them in each container. last 20 steps: 1- open the drawer 2- put the holder on the table 3- invert the holder 4- put the holder on the table 5- place the holder on the table 6- keep the forks in the 1st stand 7- keep the spoons in the 2nd stand 8- place the knife in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the knife in the holder 2- keep the knives in the 3rd stand 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cabinate and then take out the mesh containers. set them on the table, then out the utensils that are in the cabinate and sort them in each container. Q: immediate next step? \u003cPRED\u003eA: place the knife in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the knife in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and then take out the mesh containers. set them on the table, then out the utensils that are in the cabinate and sort them in each container. last 20 steps: 1- open the drawer 2- put the holder on the table 3- invert the holder 4- put the holder on the table 5- place the holder on the table 6- keep the forks in the 1st stand 7- keep the spoons in the 2nd stand 8- place the knife in the holder Q: immediate next step? \u003cPRED\u003eA: place the knife in the holder\n\u003c/PRED\u003e","video":"15647762661567067273.mp4"}
+{"uid":"10326944834156948434","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the spoon 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 spoon 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: open the cabinate and then take out the mesh containers. set them on the table, then out the utensils that are in the cabinate and sort them in each container. Q: immediate next step? \u003cPRED\u003eA: place the spoon in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the spoon in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and then take out the mesh containers. set them on the table, then out the utensils that are in the cabinate and sort them in each container. last 20 steps: 1- open the drawer 2- put the holder on the table 3- invert the holder 4- put the holder on the table 5- place the holder on the table 6- keep the forks in the 1st stand Q: immediate next step? \u003cPRED\u003eA: place the spoon in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the spoon in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and then take out the mesh containers. set them on the table, then out the utensils that are in the cabinate and sort them in each container. last 20 steps: 1- open the drawer 2- put the holder on the table 3- invert the holder 4- put the holder on the table 5- place the holder on the table 6- keep the forks in the 1st stand Q: next 5 steps? \u003cPRED\u003eA: 1- place the spoon in the holder 2- place the knife in the holder 3- place the knife in the holder 4- keep the knives in the 3rd stand 5- done\n\u003c/PRED\u003e","video":"905531990160725954.mp4"}
+{"uid":"9463873080207800514","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nkeep the 3rd stand on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nkeep the 3rd stand on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cabinate and then take out the mesh containers. set them on the table, then out the utensils that are in the cabinate and sort them in each container. Q: immediate next step? \u003cPRED\u003eA: keep the 3rd stand on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and then take out the mesh containers. set them on the table, then out the utensils that are in the cabinate and sort them in each container. last 20 steps: 1- open the drawer 2- put the holder on the table 3- invert the holder 4- put the holder on the table Q: next 5 steps? \u003cPRED\u003eA: 1- keep the 3rd stand on the table 2- keep the spoons in the 2nd stand 3- place the knife in the holder 4- place the knife in the holder 5- keep the knives in the 3rd stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: keep the 3rd stand on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and then take out the mesh containers. set them on the table, then out the utensils that are in the cabinate and sort them in each container. last 20 steps: 1- open the drawer 2- put the holder on the table 3- invert the holder 4- put the holder on the table Q: immediate next step? \u003cPRED\u003eA: keep the 3rd stand on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: keep the 3rd stand on the table\n\u003c/PRED\u003e","video":"11200852175039698740.mp4"}
+{"uid":"18320077082962817316","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the spoon in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the spoon 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 spoon 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: open the cabinate and then take out the mesh containers. set them on the table, then out the utensils that are in the cabinate and sort them in each container. last 20 steps: 1- open the drawer 2- put the holder on the table 3- invert the holder 4- put the holder on the table 5- place the holder on the table 6- keep the forks in the 1st stand Q: immediate next step? \u003cPRED\u003eA: place the spoon in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cabinate and then take out the mesh containers. set them on the table, then out the utensils that are in the cabinate and sort them in each container. Q: immediate next step? \u003cPRED\u003eA: place the spoon in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and then take out the mesh containers. set them on the table, then out the utensils that are in the cabinate and sort them in each container. last 20 steps: 1- open the drawer 2- put the holder on the table 3- invert the holder 4- put the holder on the table 5- place the holder on the table 6- keep the forks in the 1st stand Q: next 5 steps? \u003cPRED\u003eA: 1- place the spoon in the holder 2- place the knife in the holder 3- place the knife in the holder 4- keep the knives in the 3rd stand 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the spoon in the holder\n\u003c/PRED\u003e","video":"10020913638362895200.mp4"}
+{"uid":"3568986037531873209","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose the flap Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14462746864298782267.mp4"}
+{"uid":"8362428656041098721","text":"\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: open the cabinate and then take out the mesh containers. set them on the table, then out the utensils that are in the cabinate and sort them in each container. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- invert the holder 3- put the holder on the table 4- place the holder on the table 5- keep the forks in the 1st stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cabinate and then take out the mesh containers. set them on the table, then out the utensils that are in the cabinate and sort them in each container. Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and then take out the mesh containers. set them on the table, then out the utensils that are in the cabinate and sort them in each container. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e","video":"10512666673257063502.mp4"}
+{"uid":"15174620821780448699","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the fork in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and then take out the mesh containers. set them on the table, then out the utensils that are in the cabinate and sort them in each container. last 20 steps: 1- open the drawer 2- put the holder on the table 3- invert the holder 4- put the holder on the table 5- place the holder on the table Q: immediate next step? \u003cPRED\u003eA: place the fork in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the 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: open the cabinate and then take out the mesh containers. set them on the table, then out the utensils that are in the cabinate and sort them in each container. last 20 steps: 1- open the drawer 2- put the holder on the table 3- invert the holder 4- put the holder on the table 5- place the holder on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the fork in the holder 2- keep the spoons in the 2nd stand 3- place the knife in the holder 4- place the knife in the holder 5- keep the knives in the 3rd stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the 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:planning:freeform\u003e\ncurrent goal is: open the cabinate and then take out the mesh containers. set them on the table, then out the utensils that are in the cabinate and sort them in each container. Q: immediate next step? \u003cPRED\u003eA: place the fork in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the fork in the holder\n\u003c/PRED\u003e","video":"10669620840962162700.mp4"}
+{"uid":"11556246214916148422","text":"\u003ctask:success:discrete:False\u003e\nplace the 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:planning:freeform\u003e\ncurrent goal is: open the cabinate and then take out the mesh containers. set them on the table, then out the utensils that are in the cabinate and sort them in each container. Q: immediate next step? \u003cPRED\u003eA: place the fork in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and then take out the mesh containers. set them on the table, then out the utensils that are in the cabinate and sort them in each container. last 20 steps: 1- open the drawer 2- put the holder on the table 3- invert the holder 4- put the holder on the table 5- place the holder on the table Q: immediate next step? \u003cPRED\u003eA: place the fork in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the 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: open the cabinate and then take out the mesh containers. set them on the table, then out the utensils that are in the cabinate and sort them in each container. last 20 steps: 1- open the drawer 2- put the holder on the table 3- invert the holder 4- put the holder on the table 5- place the holder on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the fork in the holder 2- keep the spoons in the 2nd stand 3- place the knife in the holder 4- place the knife in the holder 5- keep the knives in the 3rd stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the fork in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the fork in the holder\n\u003c/PRED\u003e","video":"12345644855291728269.mp4"}
+{"uid":"4661617903979985713","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cabinate and then take out the mesh containers. set them on the table, then out the utensils that are in the cabinate and sort them in each container. Q: immediate next step? \u003cPRED\u003eA: place the knife in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and then take out the mesh containers. set them on the table, then out the utensils that are in the cabinate and sort them in each container. last 20 steps: 1- open the drawer 2- put the holder on the table 3- invert the holder 4- put the holder on the table 5- place the holder on the table 6- keep the forks in the 1st stand 7- keep the spoons in the 2nd stand 8- place the knife in the holder 9- place the knife in the holder Q: immediate next step? \u003cPRED\u003eA: place the knife in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and then take out the mesh containers. set them on the table, then out the utensils that are in the cabinate and sort them in each container. last 20 steps: 1- open the drawer 2- put the holder on the table 3- invert the holder 4- put the holder on the table 5- place the holder on the table 6- keep the forks in the 1st stand 7- keep the spoons in the 2nd stand 8- place the knife in the holder 9- place the knife in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the knife in the holder 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the knife 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 knife in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the knife in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the knife 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":"4564454606708151230.mp4"}
+{"uid":"6736933505782866964","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the holder on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the holder on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cabinate and then take out the mesh containers. set them on the table, then out the utensils that are in the cabinate and sort them in each container. Q: immediate next step? \u003cPRED\u003eA: put the holder on the table\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the holder on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED: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 cabinate and then take out the mesh containers. set them on the table, then out the utensils that are in the cabinate and sort them in each container. last 20 steps: 1- open the drawer Q: immediate next step? \u003cPRED\u003eA: put the holder on the table\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\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and then take out the mesh containers. set them on the table, then out the utensils that are in the cabinate and sort them in each container. last 20 steps: 1- open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put the holder on the table 2- invert the holder 3- put the holder on the table 4- place the holder on the table 5- keep the forks in the 1st stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the holder on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7704963025111886711.mp4"}
+{"uid":"12667124518772038000","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: invert the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ninvert 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":"15995949969286957002.mp4"}
+{"uid":"5502250611624719306","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\norganize 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":"1485296215626018876.mp4"}
+{"uid":"8864154740883614662","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pouch in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3872235154425162440.mp4"}
+{"uid":"15001652515377023176","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5367627779312653749.mp4"}
+{"uid":"3438444767462808091","text":"\u003ctask:success:discrete:True\u003e\nplace the 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\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the fork in the holder\n\u003c/PRED\u003e","video":"16352052544529499904.mp4"}
+{"uid":"8949174670489596091","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cabinate and then take out the mesh containers. set them on the table, then out the utensils that are in the cabinate and sort them in each container. Q: immediate next step? \u003cPRED\u003eA: place the knife in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the knife in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and then take out the mesh containers. set them on the table, then out the utensils that are in the cabinate and sort them in each container. last 20 steps: 1- open the drawer 2- put the holder on the table 3- invert the holder 4- put the holder on the table 5- place the holder on the table 6- keep the forks in the 1st stand 7- keep the spoons in the 2nd stand 8- place the knife in the holder 9- place the knife in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the knife in the holder 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and then take out the mesh containers. set them on the table, then out the utensils that are in the cabinate and sort them in each container. last 20 steps: 1- open the drawer 2- put the holder on the table 3- invert the holder 4- put the holder on the table 5- place the holder on the table 6- keep the forks in the 1st stand 7- keep the spoons in the 2nd stand 8- place the knife in the holder 9- place the knife in the holder Q: immediate next step? \u003cPRED\u003eA: place the knife in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the knife 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 knife in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the knife 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":"4564166475921911204.mp4"}
+{"uid":"4017670697769516380","text":"\u003ctask:success:discrete:True\u003e\nplace the 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\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the fork in the holder\n\u003c/PRED\u003e","video":"3697028274109370500.mp4"}
+{"uid":"1160471158902411172","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose the tap Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3224262538895391614.mp4"}
+{"uid":"7254380586604448493","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nkeep the forks in the 1st 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\nkeep the forks in the 1st 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: open the cabinate and then take out the mesh containers. set them on the table, then out the utensils that are in the cabinate and sort them in each container. Q: immediate next step? \u003cPRED\u003eA: keep the forks in the 1st stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: keep the forks in the 1st stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and then take out the mesh containers. set them on the table, then out the utensils that are in the cabinate and sort them in each container. last 20 steps: 1- open the drawer 2- put the holder on the table 3- invert the holder 4- put the holder on the table 5- place the holder on the table Q: next 5 steps? \u003cPRED\u003eA: 1- keep the forks in the 1st stand 2- keep the spoons in the 2nd stand 3- place the knife in the holder 4- place the knife in the holder 5- keep the knives in the 3rd stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and then take out the mesh containers. set them on the table, then out the utensils that are in the cabinate and sort them in each container. last 20 steps: 1- open the drawer 2- put the holder on the table 3- invert the holder 4- put the holder on the table 5- place the holder on the table Q: immediate next step? \u003cPRED\u003eA: keep the forks in the 1st stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: keep the forks in the 1st stand\n\u003c/PRED\u003e","video":"852116740762395062.mp4"}
+{"uid":"13140831428694429327","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":"15323478533712959621.mp4"}
+{"uid":"6746942932003589410","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the holder to the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the holder 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":"15993799569836334804.mp4"}
+{"uid":"5590543593211529568","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":"5182060507718407076.mp4"}
+{"uid":"12140605418830037197","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and then take out the mesh containers. set them on the table, then out the utensils that are in the cabinate and sort them in each container. last 20 steps: 1- open the drawer 2- put the holder on the table 3- invert the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the holder in the table 2- place the holder on the table 3- keep the forks in the 1st stand 4- keep the spoons in the 2nd stand 5- place the knife in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the holder in the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED: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 cabinate and then take out the mesh containers. set them on the table, then out the utensils that are in the cabinate and sort them in each container. last 20 steps: 1- open the drawer 2- put the holder on the table 3- invert the holder Q: immediate next step? \u003cPRED\u003eA: place the holder in the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the holder in the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the holder in the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the holder in the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 cabinate and then take out the mesh containers. set them on the table, then out the utensils that are in the cabinate and sort them in each container. Q: immediate next step? \u003cPRED\u003eA: place the holder in the table\n\u003c/PRED\u003e","video":"10789064214846515320.mp4"}
+{"uid":"16264830523312123292","text":"\u003ctask:success:discrete:True\u003e\nput the holder 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: open the cabinate and then take out the mesh containers. set them on the table, then out the utensils that are in the cabinate and sort them in each container. last 20 steps: 1- open the drawer 2- put the holder on the table Q: next 5 steps? \u003cPRED\u003eA: 1- invert the holder 2- put the holder on the table 3- place the holder on the table 4- keep the forks in the 1st stand 5- keep the spoons in the 2nd stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cabinate and then take out the mesh containers. set them on the table, then out the utensils that are in the cabinate and sort them in each container. Q: immediate next step? \u003cPRED\u003eA: invert the holder\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the holder on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ninvert 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: invert the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and then take out the mesh containers. set them on the table, then out the utensils that are in the cabinate and sort them in each container. last 20 steps: 1- open the drawer 2- put the holder on the table Q: immediate next step? \u003cPRED\u003eA: invert the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ninvert 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: invert the holder\n\u003c/PRED\u003e","video":"16166885928926258892.mp4"}
+{"uid":"11821972942323355976","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and then take out the mesh containers. set them on the table, then out the utensils that are in the cabinate and sort them in each container. last 20 steps: 1- open the drawer 2- put the holder on the table 3- invert the holder 4- put the holder on the table Q: immediate next step? \u003cPRED\u003eA: place the holder on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the holder on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the holder on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 cabinate and then take out the mesh containers. set them on the table, then out the utensils that are in the cabinate and sort them in each container. Q: immediate next step? \u003cPRED\u003eA: place the holder on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and then take out the mesh containers. set them on the table, then out the utensils that are in the cabinate and sort them in each container. last 20 steps: 1- open the drawer 2- put the holder on the table 3- invert the holder 4- put the holder on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the holder on the table 2- keep the forks in the 1st stand 3- keep the spoons in the 2nd stand 4- place the knife in the holder 5- place the knife in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the holder on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED: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 holder on the table\n\u003c/PRED\u003e","video":"15765000453080655422.mp4"}
+{"uid":"10009564389290376711","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and then take out the mesh containers. set them on the table, then out the utensils that are in the cabinate and sort them in each container. last 20 steps: 1- open the drawer 2- put the holder on the table 3- invert the holder 4- put the holder on the table 5- place the holder on the table Q: immediate next step? \u003cPRED\u003eA: place the fork in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cabinate and then take out the mesh containers. set them on the table, then out the utensils that are in the cabinate and sort them in each container. Q: immediate next step? \u003cPRED\u003eA: place the fork in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the fork in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and then take out the mesh containers. set them on the table, then out the utensils that are in the cabinate and sort them in each container. last 20 steps: 1- open the drawer 2- put the holder on the table 3- invert the holder 4- put the holder on the table 5- place the holder on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the fork in the holder 2- keep the spoons in the 2nd stand 3- place the knife in the holder 4- place the knife in the holder 5- keep the knives in the 3rd stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the fork in the holder\n\u003c/PRED\u003e","video":"749561662355658259.mp4"}
+{"uid":"13709108631820548846","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":"546661105479943918.mp4"}
+{"uid":"4030584165077615669","text":"\u003ctask:success:discrete:True\u003e\nput the holder 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 holder on the table\n\u003c/PRED\u003e","video":"12557583385189023374.mp4"}
+{"uid":"15348469825967869950","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: keep the knives in the 3rd stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: keep the knives in the 3rd stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and then take out the mesh containers. set them on the table, then out the utensils that are in the cabinate and sort them in each container. last 20 steps: 1- open the drawer 2- put the holder on the table 3- invert the holder 4- put the holder on the table 5- place the holder on the table 6- keep the forks in the 1st stand 7- keep the spoons in the 2nd stand Q: next 5 steps? \u003cPRED\u003eA: 1- keep the knives in the 3rd stand 2- keep the knives in the 3rd stand 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cabinate and then take out the mesh containers. set them on the table, then out the utensils that are in the cabinate and sort them in each container. Q: immediate next step? \u003cPRED\u003eA: keep the knives in the 3rd stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nkeep the knives in the 3rd 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: open the cabinate and then take out the mesh containers. set them on the table, then out the utensils that are in the cabinate and sort them in each container. last 20 steps: 1- open the drawer 2- put the holder on the table 3- invert the holder 4- put the holder on the table 5- place the holder on the table 6- keep the forks in the 1st stand 7- keep the spoons in the 2nd stand Q: immediate next step? \u003cPRED\u003eA: keep the knives in the 3rd stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nkeep the knives in the 3rd 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":"9899142696650471861.mp4"}
+{"uid":"16574489519278453171","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":"5846403638954114592.mp4"}
+{"uid":"8993783616960430749","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in the organiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13959674497263643417.mp4"}
+{"uid":"16945289766581834986","text":"\u003ctask:success:discrete:True\u003e\nplace the knife 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 knife in the holder\n\u003c/PRED\u003e","video":"5879539941902493619.mp4"}
+{"uid":"17438292617667497696","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up 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":"10465630341575285336.mp4"}
+{"uid":"6670050032559649550","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and then take out the mesh containers. set them on the table, then out the utensils that are in the cabinate and sort them in each container. last 20 steps: 1- open the drawer 2- put the holder on the table 3- invert the holder 4- put the holder on the table 5- place the holder on the table 6- keep the forks in the 1st stand 7- keep the spoons in the 2nd stand 8- place the knife in the holder 9- place the knife in the holder Q: immediate next step? \u003cPRED\u003eA: keep the knives in the 3rd stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: keep the knives in the 3rd stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: keep the knives in the 3rd stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nkeep the knives in the 3rd 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: open the cabinate and then take out the mesh containers. set them on the table, then out the utensils that are in the cabinate and sort them in each container. last 20 steps: 1- open the drawer 2- put the holder on the table 3- invert the holder 4- put the holder on the table 5- place the holder on the table 6- keep the forks in the 1st stand 7- keep the spoons in the 2nd stand 8- place the knife in the holder 9- place the knife in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- keep the knives in the 3rd stand 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cabinate and then take out the mesh containers. set them on the table, then out the utensils that are in the cabinate and sort them in each container. Q: immediate next step? \u003cPRED\u003eA: keep the knives in the 3rd stand\n\u003c/PRED\u003e","video":"18408791057214742768.mp4"}
+{"uid":"8865031534022150958","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop pistachio in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6213285521754331175.mp4"}
+{"uid":"17905131987455892335","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the bule 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":"7931368559654663304.mp4"}
+{"uid":"11822439535737082549","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the knife 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 knife in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cabinate and then take out the mesh containers. set them on the table, then out the utensils that are in the cabinate and sort them in each container. Q: immediate next step? \u003cPRED\u003eA: place the knife in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and then take out the mesh containers. set them on the table, then out the utensils that are in the cabinate and sort them in each container. last 20 steps: 1- open the drawer 2- put the holder on the table 3- invert the holder 4- put the holder on the table 5- place the holder on the table 6- keep the forks in the 1st stand 7- keep the spoons in the 2nd stand Q: immediate next step? \u003cPRED\u003eA: place the knife in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the knife in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and then take out the mesh containers. set them on the table, then out the utensils that are in the cabinate and sort them in each container. last 20 steps: 1- open the drawer 2- put the holder on the table 3- invert the holder 4- put the holder on the table 5- place the holder on the table 6- keep the forks in the 1st stand 7- keep the spoons in the 2nd stand Q: next 5 steps? \u003cPRED\u003eA: 1- place the knife in the holder 2- place the knife in the holder 3- keep the knives in the 3rd stand 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the knife 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":"8883618545100945996.mp4"}
+{"uid":"353109523440720332","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":"2988679980679759699.mp4"}
+{"uid":"6635774440930453733","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ngo straight into the hallway. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5478006795747222337.mp4"}
+{"uid":"6221477399544922955","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the knife in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cabinate and then take out the mesh containers. set them on the table, then out the utensils that are in the cabinate and sort them in each container. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and then take out the mesh containers. set them on the table, then out the utensils that are in the cabinate and sort them in each container. last 20 steps: 1- open the drawer 2- put the holder on the table 3- invert the holder 4- put the holder on the table 5- place the holder on the table 6- keep the forks in the 1st stand 7- keep the spoons in the 2nd stand 8- place the knife in the holder 9- place the knife in the holder 10- place the knife in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the knife 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: open the cabinate and then take out the mesh containers. set them on the table, then out the utensils that are in the cabinate and sort them in each container. last 20 steps: 1- open the drawer 2- put the holder on the table 3- invert the holder 4- put the holder on the table 5- place the holder on the table 6- keep the forks in the 1st stand 7- keep the spoons in the 2nd stand 8- place the knife in the holder 9- place the knife in the holder 10- place the knife in the holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"8449560022465949932.mp4"}
+{"uid":"17977363826868828856","text":"\u003ctask:success:discrete:True\u003e\nkeep the knives in the 3rd 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: keep the knives in the 3rd stand\n\u003c/PRED\u003e","video":"3590207591164648627.mp4"}
+{"uid":"14000322744080859400","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cabinate and then take out the mesh containers. set them on the table, then out the utensils that are in the cabinate and sort them in each container. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nkeep the knives in the 3rd stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and then take out the mesh containers. set them on the table, then out the utensils that are in the cabinate and sort them in each container. last 20 steps: 1- open the drawer 2- put the holder on the table 3- invert the holder 4- put the holder on the table 5- place the holder on the table 6- keep the forks in the 1st stand 7- keep the spoons in the 2nd stand 8- place the knife in the holder 9- place the knife in the holder 10- keep the knives in the 3rd stand Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: keep the knives in the 3rd stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and then take out the mesh containers. set them on the table, then out the utensils that are in the cabinate and sort them in each container. last 20 steps: 1- open the drawer 2- put the holder on the table 3- invert the holder 4- put the holder on the table 5- place the holder on the table 6- keep the forks in the 1st stand 7- keep the spoons in the 2nd stand 8- place the knife in the holder 9- place the knife in the holder 10- keep the knives in the 3rd stand Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"312877104724546637.mp4"}
+{"uid":"9490352214862885259","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: keep the spoons in the 2nd stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nkeep the spoons in the 2nd 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":"4147148048721270762.mp4"}
+{"uid":"6918136913271806982","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the knife in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and then take out the mesh containers. set them on the table, then out the utensils that are in the cabinate and sort them in each container. last 20 steps: 1- open the drawer 2- put the holder on the table 3- invert the holder 4- put the holder on the table 5- place the holder on the table 6- keep the forks in the 1st stand 7- keep the spoons in the 2nd stand 8- place the knife in the holder 9- place the knife in the holder 10- place the knife in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cabinate and then take out the mesh containers. set them on the table, then out the utensils that are in the cabinate and sort them in each container. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and then take out the mesh containers. set them on the table, then out the utensils that are in the cabinate and sort them in each container. last 20 steps: 1- open the drawer 2- put the holder on the table 3- invert the holder 4- put the holder on the table 5- place the holder on the table 6- keep the forks in the 1st stand 7- keep the spoons in the 2nd stand 8- place the knife in the holder 9- place the knife in the holder 10- place the knife in the holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the knife 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":"4185485858875411469.mp4"}
+{"uid":"14404950121924520734","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the fork in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and then take out the mesh containers. set them on the table, then out the utensils that are in the cabinate and sort them in each container. last 20 steps: 1- open the drawer 2- put the holder on the table 3- invert the holder 4- put the holder on the table 5- place the holder on the table Q: immediate next step? \u003cPRED\u003eA: place the fork in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the 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:discriminative:discrete:True\u003e\nplace the 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:planning:freeform\u003e\ncurrent goal is: open the cabinate and then take out the mesh containers. set them on the table, then out the utensils that are in the cabinate and sort them in each container. Q: immediate next step? \u003cPRED\u003eA: place the fork in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the fork in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and then take out the mesh containers. set them on the table, then out the utensils that are in the cabinate and sort them in each container. last 20 steps: 1- open the drawer 2- put the holder on the table 3- invert the holder 4- put the holder on the table 5- place the holder on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the fork in the holder 2- keep the spoons in the 2nd stand 3- place the knife in the holder 4- place the knife in the holder 5- keep the knives in the 3rd stand\n\u003c/PRED\u003e","video":"7242198756546222999.mp4"}
+{"uid":"15630902235734303117","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: close the wipe dispenser and then throw the wipe away. last 20 steps: 1- close the tissue packet 2- pick up the tissue 3- place the tissue paper into the trash bin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the tissue paper into the trash bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the tissue paper into the trash bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: close the wipe dispenser and then throw the wipe away Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: close the wipe dispenser and then throw the wipe away. last 20 steps: 1- close the tissue packet 2- pick up the tissue 3- place the tissue paper into the trash bin Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"15320151794781139183.mp4"}
+{"uid":"772451907853757077","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the cup upside down 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":"335674730055056689.mp4"}
+{"uid":"8798309490602735687","text":"\u003ctask:success:discrete:False\u003e\nput packet on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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: empty the box of chips. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on table 2- place the packet on the table 3- place the packet on the table 4- place the packets on the table 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty the box of chips. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty the box of chips 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":"15440353022784115171.mp4"}
+{"uid":"124140464655319713","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the sticky notepad 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":"14004845870077367792.mp4"}
+{"uid":"8785549037822120646","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: close the wipe dispenser and then throw the wipe away. last 20 steps: 1- close the tissue packet Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the tissue 2- drop the tissue in the dustbin 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: close the wipe dispenser and then throw the wipe away Q: immediate next step? \u003cPRED\u003eA: pick up the tissue\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up 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\npick up 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: close the wipe dispenser and then throw the wipe away. last 20 steps: 1- close the tissue packet Q: immediate next step? \u003cPRED\u003eA: pick up the tissue\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the tissue\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the tissue\n\u003c/PRED\u003e","video":"9804774718354876675.mp4"}
+{"uid":"8921751529015705667","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace yellow 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":"2147083639570301318.mp4"}
+{"uid":"10060424008496242026","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the cable into the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"771571805124538180.mp4"}
+{"uid":"18320627121309568223","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please throw away my cups into the compostables bin. last 20 steps: 1- Place the coffee cup inside the green dustbin Q: immediate next step? \u003cPRED\u003eA: Place the cup inside the green dustbin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please throw away my cups into the compostables bin. last 20 steps: 1- Place the coffee cup inside the green dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- Place the cup inside the green dustbin 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the cup inside the green dustbin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the cup inside the green dustbin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the cup inside the green dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the cup inside the green dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please throw away my cups into the compostables bin. Q: immediate next step? \u003cPRED\u003eA: Place the cup inside the green dustbin\n\u003c/PRED\u003e","video":"7993586615982075755.mp4"}
+{"uid":"5660626698006479740","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: close the wipe dispenser and then throw the wipe away Q: immediate next step? \u003cPRED\u003eA: pick up the tissue\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: close the wipe dispenser and then throw the wipe away. last 20 steps: 1- close the tissue packet Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the tissue 2- drop the tissue in the dustbin 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the tissue\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up 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\npick up 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: pick up the tissue\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: close the wipe dispenser and then throw the wipe away. last 20 steps: 1- close the tissue packet Q: immediate next step? \u003cPRED\u003eA: pick up the tissue\n\u003c/PRED\u003e","video":"11030180051144518231.mp4"}
+{"uid":"6362724982361970920","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: empty the box of chips Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the packets on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty the box of chips. last 20 steps: 1- place the packet on the table 2- place the packets on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet on the table 2- place the packet on the table 3- place the packets on the table 4- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the packets on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty the box of chips. last 20 steps: 1- place the packet on the table 2- place the packets on the table Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13246839463883345885.mp4"}
+{"uid":"11647954741444098188","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the tissue in the dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: close the wipe dispenser and then throw the wipe away. last 20 steps: 1- close the tissue packet 2- pick up the tissue Q: immediate next step? \u003cPRED\u003eA: drop the tissue in the dustbin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the tissue in the dustbin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: close the wipe dispenser and then throw the wipe away. last 20 steps: 1- close the tissue packet 2- pick up the tissue Q: next 5 steps? \u003cPRED\u003eA: 1- drop the tissue in the dustbin 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the tissue in the dustbin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: close the wipe dispenser and then throw the wipe away Q: immediate next step? \u003cPRED\u003eA: drop the tissue in the dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the tissue in the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12618622339085604209.mp4"}
+{"uid":"8592232204725061661","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the white 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: empty the box of chips Q: immediate next step? \u003cPRED\u003eA: Put the white packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty the box of chips. last 20 steps: 1- place the packet on the table 2- place the packets on the table 3- place the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the white packet on the table 2- place the packets on the table 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the white packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty the box of chips. last 20 steps: 1- place the packet on the table 2- place the packets on the table 3- place the packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the white 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 white packet on the table\n\u003c/PRED\u003e","video":"5835212957901385136.mp4"}
+{"uid":"14341057531210109333","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":"1428020241845866897.mp4"}
+{"uid":"12497692830576016903","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: close the wipe dispenser and then throw the wipe away Q: immediate next step? \u003cPRED\u003eA: place the tissue paper into the trash bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the tissue paper into the trash bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the tissue paper into the trash bin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the tissue paper into the trash bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the tissue paper into the trash bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: close the wipe dispenser and then throw the wipe away. last 20 steps: 1- close the tissue packet 2- pick up the tissue Q: next 5 steps? \u003cPRED\u003eA: 1- place the tissue paper into the trash bin 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: close the wipe dispenser and then throw the wipe away. last 20 steps: 1- close the tissue packet 2- pick up the tissue Q: immediate next step? \u003cPRED\u003eA: place the tissue paper into the trash bin\n\u003c/PRED\u003e","video":"144885138192251053.mp4"}
+{"uid":"16393322178758104732","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pistachio into the paper glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11121786277745187423.mp4"}
+{"uid":"12294553273067777746","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove to the hanger Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3044280578038892634.mp4"}
+{"uid":"4914781557846826901","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: empty the box of chips 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty the box of chips. last 20 steps: 1- place the packet on the table 2- place the packets on the table 3- place the packet on the table 4- place the 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty the box of chips. last 20 steps: 1- place the packet on the table 2- place the packets on the table 3- place the packet on the table 4- place the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on table 2- 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","video":"1154050804010731612.mp4"}
+{"uid":"585970422378095092","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":"18130903695025319192.mp4"}
+{"uid":"17124682401122089011","text":"\u003ctask:success:discrete:False\u003e\nplace the packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty the box of chips Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty the box of chips. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty the box of chips. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet on the table 2- place the packets on the table 3- place the packet on the table 4- place the packet on the table 5- place the packets on the table\n\u003c/PRED\u003e","video":"8816786172798977751.mp4"}
+{"uid":"7545179452966410546","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":"16315196783508580473.mp4"}
+{"uid":"7414070555361811827","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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:planning:freeform\u003e\ncurrent goal is: empty the box of chips Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty the box of chips. last 20 steps: 1- place the packet on the table 2- place the packets on the table 3- place the 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: empty the box of chips. last 20 steps: 1- place the packet on the table 2- place the packets on the table 3- place the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on table 2- place the packets on the table 3- done\n\u003c/PRED\u003e","video":"15073186508454261018.mp4"}
+{"uid":"7172148672691002902","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty the box of chips Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty the box of chips. last 20 steps: 1- place the packet on the table 2- place the packets on the table 3- place the packet on the table Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty the box of chips. last 20 steps: 1- place the packet on the table 2- place the packets on the table 3- place the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet on the table 2- place the packets on the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11894327634395919707.mp4"}
+{"uid":"6029197518701246914","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":"6529074208418497600.mp4"}
+{"uid":"311015460275508659","text":"\u003ctask:success:discrete:True\u003e\ndrop the tissue in the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the tissue in the dustbin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: close the wipe dispenser and then throw the wipe away. last 20 steps: 1- close the tissue packet 2- pick up the tissue 3- drop the tissue in the dustbin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: close the wipe dispenser and then throw the wipe away Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: close the wipe dispenser and then throw the wipe away. last 20 steps: 1- close the tissue packet 2- pick up the tissue 3- drop the tissue in the dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"15918352952571626135.mp4"}
+{"uid":"2810306186663003569","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: empty the box of chips Q: immediate next step? \u003cPRED\u003eA: put packets on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packets on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packets on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packets on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty the box of chips. last 20 steps: 1- place the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packets on table 2- place the packet on the table 3- place the packet on the table 4- place the packets on the table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packets 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: empty the box of chips. last 20 steps: 1- place the packet on the table Q: immediate next step? \u003cPRED\u003eA: put packets on table\n\u003c/PRED\u003e","video":"1778633494621103645.mp4"}
+{"uid":"16280183886019432456","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nunstack 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":"8206903672827619113.mp4"}
+{"uid":"3416425579213913849","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":"7441298255910117016.mp4"}
+{"uid":"3469469753347648060","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput packet on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10790220411430798865.mp4"}
+{"uid":"13170656636732269265","text":"\u003ctask:success:discrete:False\u003e\nput packet on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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:planning:freeform\u003e\ncurrent goal is: empty the box of chips Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty the box of chips. last 20 steps: 1- place the packet on the table 2- place the packets on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on table 2- place the packet on the table 3- place the packets on the table 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty the box of chips. last 20 steps: 1- place the packet on the table 2- place the packets on the table Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e","video":"4866433677428783222.mp4"}
+{"uid":"15117149044821767919","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packets on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the packets on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty the box of chips. last 20 steps: 1- place the packet on the table 2- place the packets on the table 3- place the packet on the table 4- place the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the packets on the table 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty the box of chips Q: immediate next step? \u003cPRED\u003eA: place the packets on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty the box of chips. last 20 steps: 1- place the packet on the table 2- place the packets on the table 3- place the packet on the table 4- place the packet on the table Q: immediate next step? \u003cPRED\u003eA: place the packets on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packets on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packets on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5478276164866678746.mp4"}
+{"uid":"3447563997479300102","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the water bottle from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13532973335116969886.mp4"}
+{"uid":"1508511120740338007","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the packets on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the packets on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty the box of chips. last 20 steps: 1- place the packet on the table 2- place the packets on the table 3- place the packet on the table 4- place the packet on the table 5- place the packets on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty the box of chips Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty the box of chips. last 20 steps: 1- place the packet on the table 2- place the packets on the table 3- place the packet on the table 4- place the packet on the table 5- place the packets on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"3062568880746710977.mp4"}
+{"uid":"14639141295761254124","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please throw away my cups into the compostables bin. last 20 steps: 1- Place the coffee cup inside the green dustbin 2- Place the cup inside the green dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please throw away my cups into the compostables bin. last 20 steps: 1- Place the coffee cup inside the green dustbin 2- Place the cup inside the green dustbin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the cup inside the green dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please throw away my cups into the compostables bin. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the cup inside the green dustbin\n\u003c/PRED\u003e","video":"491297998687853968.mp4"}
+{"uid":"549188733358993567","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":"1842424330665914567.mp4"}
+{"uid":"11629154071884396888","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty the box of chips. last 20 steps: 1- place the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the white packets on the table 2- place the packet on the table 3- place the packet on the table 4- place the packets on the table 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the white packets on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the white packets on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty the box of chips Q: immediate next step? \u003cPRED\u003eA: Put the white packets on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the white packets on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty the box of chips. last 20 steps: 1- place the packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the white packets on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the white packets on the table\n\u003c/PRED\u003e","video":"3231855924491982439.mp4"}
+{"uid":"5406946259073107193","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: empty the box of chips Q: immediate next step? \u003cPRED\u003eA: place the packets on the table\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packets on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty the box of chips. last 20 steps: 1- place the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the packets on the table 2- place the packet on the table 3- place the packet on the table 4- place the packets on the table 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packets on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packets on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty the box of chips. last 20 steps: 1- place the packet on the table Q: immediate next step? \u003cPRED\u003eA: place the packets on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the packets on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12852627448235179504.mp4"}
+{"uid":"17582998633646908907","text":"\u003ctask:success:discrete:True\u003e\nput packet on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e","video":"13083492801849174677.mp4"}
+{"uid":"7300075321318027956","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":"16741324681697519881.mp4"}
+{"uid":"15669427728886075580","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up 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":"9856655054455777642.mp4"}
+{"uid":"703995586281727668","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the cold brew can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13600236778187641312.mp4"}
+{"uid":"10992385231863700658","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nClose the dark blue marker tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18205188172291806391.mp4"}
+{"uid":"8177029642743565325","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: close the wipe dispenser and then throw the wipe away Q: immediate next step? \u003cPRED\u003eA: close the yellow packet\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the yellow packet\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: close the wipe dispenser and then throw the wipe away. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: close the yellow packet\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the yellow packet\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the yellow packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: close the wipe dispenser and then throw the wipe away. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- close the yellow packet 2- drop the tissue in the dustbin 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the yellow packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16238574447444852458.mp4"}
+{"uid":"4220312616728308700","text":"\u003ctask:success:discrete:True\u003e\nPlace the coffee cup inside the green dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the coffee cup inside the green dustbin\n\u003c/PRED\u003e","video":"6065552154378587223.mp4"}
+{"uid":"9813434058275102412","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the black pens 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":"13845921628332945846.mp4"}
+{"uid":"5632954866351716670","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput tissue on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15238382928529405659.mp4"}
+{"uid":"3586593481302592361","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sticky notes in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"357671767178228702.mp4"}
+{"uid":"16256962614684134351","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the white 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 white packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the white 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: empty the box of chips Q: immediate next step? \u003cPRED\u003eA: Put the white packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty the box of chips. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the white packet on the table 2- place the packets on the table 3- place the packet on the table 4- place the packet on the table 5- place the packets on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the white packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty the box of chips. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the white packet on the table\n\u003c/PRED\u003e","video":"13127841918724023735.mp4"}
+{"uid":"13647891018049371640","text":"\u003ctask:success:discrete:True\u003e\nPut the white 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 the white packet on the table\n\u003c/PRED\u003e","video":"549406865473251208.mp4"}
+{"uid":"2950436893041251919","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty the box of chips. last 20 steps: 1- place the packet on the table 2- place the packets on the table 3- place the packet on the table 4- place the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the white packets on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the white packets on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the white packets on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the white packets on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty the box of chips Q: immediate next step? \u003cPRED\u003eA: Put the white packets on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty the box of chips. last 20 steps: 1- place the packet on the table 2- place the packets on the table 3- place the packet on the table 4- place the packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the white packets on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the white packets on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17675771883695111069.mp4"}
+{"uid":"14162884516308861137","text":"\u003ctask:success:discrete:False\u003e\nPut the white packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty the box of chips. last 20 steps: 1- place the packet on the table 2- place the packets on the table Q: immediate next step? \u003cPRED\u003eA: Put the white packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty the box of chips Q: immediate next step? \u003cPRED\u003eA: Put the white packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty the box of chips. last 20 steps: 1- place the packet on the table 2- place the packets on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the white packet on the table 2- place the packet on the table 3- place the packets on the table 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the white 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 white packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the white 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":"1186074760312819731.mp4"}
+{"uid":"8121056963669489219","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the card above the card Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7022575488111144987.mp4"}
+{"uid":"17659873147081698450","text":"\u003ctask:success:discrete:False\u003e\npick up the tissue paper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: close the wipe dispenser and then throw the wipe away. last 20 steps: 1- close the tissue packet Q: immediate next step? \u003cPRED\u003eA: pick up the tissue paper\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the tissue paper\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: close the wipe dispenser and then throw the wipe away. last 20 steps: 1- close the tissue packet Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the tissue paper 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the tissue paper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the tissue paper\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: close the wipe dispenser and then throw the wipe away Q: immediate next step? \u003cPRED\u003eA: pick up the tissue paper\n\u003c/PRED\u003e","video":"3283476254107713961.mp4"}
+{"uid":"4791982158201266200","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":"8531338743129199677.mp4"}
+{"uid":"11757885087784773062","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":"8272111545404614217.mp4"}
+{"uid":"5141063290003616636","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please throw away my cups into the compostables bin. Q: immediate next step? \u003cPRED\u003eA: Place the coffee cup inside the green dustbin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please throw away my cups into the compostables bin. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place the coffee cup inside the green dustbin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the coffee cup inside the green dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the coffee cup inside the green dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the coffee cup inside the green dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please throw away my cups into the compostables bin. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place the coffee cup inside the green dustbin 2- Place the cup inside the green dustbin 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the coffee cup inside the green dustbin\n\u003c/PRED\u003e","video":"7904051401925835241.mp4"}
+{"uid":"15887295406678083307","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the green candy into the paper glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16267205231656837968.mp4"}
+{"uid":"16005673757913162510","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1855091008305858237.mp4"}
+{"uid":"4148681216015665017","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\narrange chair inside the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4306451949743137148.mp4"}
+{"uid":"11440688875005717123","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nOpen the blue 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":"3119732045474858891.mp4"}
+{"uid":"18298746496462253140","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl. last 20 steps: 1- put red packet in the bucket 2- put red packet in the bucket 3- put red packet in the bucket 4- put blue packet in the bucket 5- put blue packet in the bucket 6- put blue packet in the bucket 7- put packet in the tray 8- Put the black packet in the bowl 9- put packet in the tray 10- put packet in the tray 11- put packet in the tray 12- put packet in the tray 13- put packet in the tray 14- put packet in bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput packet in bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl. last 20 steps: 1- put red packet in the bucket 2- put red packet in the bucket 3- put red packet in the bucket 4- put blue packet in the bucket 5- put blue packet in the bucket 6- put blue packet in the bucket 7- put packet in the tray 8- Put the black packet in the bowl 9- put packet in the tray 10- put packet in the tray 11- put packet in the tray 12- put packet in the tray 13- put packet in the tray 14- put packet in 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 packet in bowl\n\u003c/PRED\u003e","video":"10124425471309447888.mp4"}
+{"uid":"3304417112599252266","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packet in bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput packet in bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7891074430136409833.mp4"}
+{"uid":"14031490233126929288","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick a wipe from the wet 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":"9659370786821469958.mp4"}
+{"uid":"11741643027011048372","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npush the chair backward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5699073476491789068.mp4"}
+{"uid":"8691353461006446247","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the blue packet in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the blue packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10461811606969900105.mp4"}
+{"uid":"1233436818472107312","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nhang the cloth to the hook Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"669601366530859420.mp4"}
+{"uid":"5788876387475810606","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet in bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl. last 20 steps: 1- put red packet in the bucket 2- put red packet in the bucket 3- put red packet in the bucket 4- put blue packet in the bucket 5- put blue packet in the bucket 6- put blue packet in the bucket 7- put packet in the tray 8- Put the black packet in the bowl 9- put packet in the tray 10- put packet in the tray 11- put packet in the tray 12- put packet in the tray 13- put packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in bowl 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl. last 20 steps: 1- put red packet in the bucket 2- put red packet in the bucket 3- put red packet in the bucket 4- put blue packet in the bucket 5- put blue packet in the bucket 6- put blue packet in the bucket 7- put packet in the tray 8- Put the black packet in the bowl 9- put packet in the tray 10- put packet in the tray 11- put packet in the tray 12- put packet in the tray 13- put packet in the tray Q: immediate next step? \u003cPRED\u003eA: put packet in bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl Q: immediate next step? \u003cPRED\u003eA: put packet in bowl\n\u003c/PRED\u003e","video":"11912013263837567516.mp4"}
+{"uid":"16299032439319157086","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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 chips in teh basket and the other snacks in the bowl Q: immediate next step? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl. last 20 steps: 1- put red packet in the bucket 2- put red packet in the bucket 3- put red packet in the bucket 4- put blue packet in the bucket 5- put blue packet in the bucket 6- put blue packet in the bucket 7- put packet in the tray 8- Put the black packet in the bowl 9- put packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray 5- put packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl. last 20 steps: 1- put red packet in the bucket 2- put red packet in the bucket 3- put red packet in the bucket 4- put blue packet in the bucket 5- put blue packet in the bucket 6- put blue packet in the bucket 7- put packet in the tray 8- Put the black packet in the bowl 9- put packet in the tray Q: immediate next step? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4206489412083781685.mp4"}
+{"uid":"17662239109701557556","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":"6534655104707889708.mp4"}
+{"uid":"6804419780286100892","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl. last 20 steps: 1- put red packet in the bucket 2- put red packet in the bucket 3- put red packet in the bucket 4- put blue packet in the bucket 5- put blue packet in the bucket 6- put blue packet in the bucket 7- put packet in the tray 8- Put the black packet in the bowl 9- put packet in the tray 10- put packet in the tray 11- put packet in the tray 12- put packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in bowl 2- put packet in the tray 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl. last 20 steps: 1- put red packet in the bucket 2- put red packet in the bucket 3- put red packet in the bucket 4- put blue packet in the bucket 5- put blue packet in the bucket 6- put blue packet in the bucket 7- put packet in the tray 8- Put the black packet in the bowl 9- put packet in the tray 10- put packet in the tray 11- put packet in the tray 12- put packet in the tray Q: immediate next step? \u003cPRED\u003eA: put packet in bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl Q: immediate next step? \u003cPRED\u003eA: put packet in bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet in bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3833299616382316516.mp4"}
+{"uid":"7381860492530994789","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the blue packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl. last 20 steps: 1- put red packet in the bucket 2- put red packet in the bucket 3- put red packet in the bucket 4- put blue packet in the bucket Q: next 5 steps? \u003cPRED\u003eA: 1- Put the blue packet in the basket 2- put blue packet in the bucket 3- put packet in the tray 4- Put the black packet in the bowl 5- put packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl. last 20 steps: 1- put red packet in the bucket 2- put red packet in the bucket 3- put red packet in the bucket 4- put blue packet in the bucket Q: immediate next step? \u003cPRED\u003eA: Put the blue packet in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the blue packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the blue packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the blue packet in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the blue packet in the basket\n\u003c/PRED\u003e","video":"5887802567204771228.mp4"}
+{"uid":"10607207214242358650","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":"1149094734899893431.mp4"}
+{"uid":"17240688650551597350","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput spoons on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10973516412994502410.mp4"}
+{"uid":"12656265992497851851","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl. last 20 steps: 1- put red packet in the bucket 2- put red packet in the bucket 3- put red packet in the bucket 4- put blue packet in the bucket 5- put blue packet in the bucket 6- put blue packet in the bucket 7- put packet in the tray 8- Put the black packet in the bowl 9- put packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in bowl 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray 5- put packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl. last 20 steps: 1- put red packet in the bucket 2- put red packet in the bucket 3- put red packet in the bucket 4- put blue packet in the bucket 5- put blue packet in the bucket 6- put blue packet in the bucket 7- put packet in the tray 8- Put the black packet in the bowl 9- put packet in the tray Q: immediate next step? \u003cPRED\u003eA: put packet in bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl Q: immediate next step? \u003cPRED\u003eA: put packet in bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet in bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in bowl\n\u003c/PRED\u003e","video":"16018931357139965786.mp4"}
+{"uid":"2333217779189887268","text":"\u003ctask:success:discrete:False\u003e\nPut the orange 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: place the chips in teh basket and the other snacks in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the orange packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange 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 orange packet in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl. last 20 steps: 1- put red packet in the bucket 2- put red packet in the bucket 3- put red packet in the bucket 4- put blue packet in the bucket 5- put blue packet in the bucket 6- put blue packet in the bucket 7- put packet in the tray 8- Put the black packet in the bowl 9- put packet in the tray 10- put packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange packet in the bowl 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange packet in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl. last 20 steps: 1- put red packet in the bucket 2- put red packet in the bucket 3- put red packet in the bucket 4- put blue packet in the bucket 5- put blue packet in the bucket 6- put blue packet in the bucket 7- put packet in the tray 8- Put the black packet in the bowl 9- put packet in the tray 10- put packet in the tray Q: immediate next step? \u003cPRED\u003eA: Put the orange packet in the bowl\n\u003c/PRED\u003e","video":"18215685589612511583.mp4"}
+{"uid":"13794466006525587698","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl. last 20 steps: 1- put red packet in the bucket 2- put red packet in the bucket 3- put red packet in the bucket 4- put blue packet in the bucket 5- put blue packet in the bucket 6- put blue packet in the bucket 7- put packet in the tray 8- Put the black packet in the bowl 9- put packet in the tray 10- put packet in the tray 11- put packet in the tray 12- put packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the tray 2- put packet in the tray 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl. last 20 steps: 1- put red packet in the bucket 2- put red packet in the bucket 3- put red packet in the bucket 4- put blue packet in the bucket 5- put blue packet in the bucket 6- put blue packet in the bucket 7- put packet in the tray 8- Put the black packet in the bowl 9- put packet in the tray 10- put packet in the tray 11- put packet in the tray 12- put packet in the tray Q: immediate next step? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl Q: immediate next step? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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":"4554730361841260366.mp4"}
+{"uid":"275958764046174517","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1194882765738376992.mp4"}
+{"uid":"5960292287020180704","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the orange in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13610285558127044975.mp4"}
+{"uid":"3675939757594504405","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put red packet in the bucket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput red packet in the bucket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14582666811175412970.mp4"}
+{"uid":"5769997682227064079","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet in stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet 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 packet in stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put packet in stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl Q: immediate next step? \u003cPRED\u003eA: put packet in stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in stand 2- put red packet in the bucket 3- put red packet in the bucket 4- put blue packet in the bucket 5- put blue packet in the bucket\n\u003c/PRED\u003e","video":"12951164166687443346.mp4"}
+{"uid":"16056289728102871829","text":"\u003ctask:success:discrete:True\u003e\nput packet in bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packet in bowl\n\u003c/PRED\u003e","video":"4367784782164431408.mp4"}
+{"uid":"13713881092862484419","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace hint bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13347528681088775992.mp4"}
+{"uid":"11503250054991645164","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut an apple in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11574657568188246421.mp4"}
+{"uid":"13155960780062308346","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put red packet in the bucket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put red packet in the bucket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl Q: immediate next step? \u003cPRED\u003eA: put red packet in the bucket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl. last 20 steps: 1- put red packet in the bucket Q: immediate next step? \u003cPRED\u003eA: put red packet in the bucket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput red packet in the bucket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 chips in teh basket and the other snacks in the bowl. last 20 steps: 1- put red packet in the bucket Q: next 5 steps? \u003cPRED\u003eA: 1- put red packet in the bucket 2- put red packet in the bucket 3- put blue packet in the bucket 4- put blue packet in the bucket 5- put blue packet in the bucket\n\u003c/PRED\u003e","video":"5954191445253919609.mp4"}
+{"uid":"6272255976259501281","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace instant oatmeal pack in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8124540350329124235.mp4"}
+{"uid":"9499830297391030467","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white and green chips 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":"5789153911808123245.mp4"}
+{"uid":"5491378526054956190","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17296706448495031148.mp4"}
+{"uid":"3724857130228634529","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput silver packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4804698070321417066.mp4"}
+{"uid":"15932317929597759150","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put red packet in the bucket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put red packet in the bucket 2- put red packet in the bucket 3- put red packet in the bucket 4- put blue packet in the bucket 5- put blue packet in the bucket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput red packet in the bucket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put red packet in the bucket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl Q: immediate next step? \u003cPRED\u003eA: put red packet in the bucket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput red packet in the bucket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED: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 chips in teh basket and the other snacks in the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put red packet in the bucket\n\u003c/PRED\u003e","video":"15215649404182774435.mp4"}
+{"uid":"10911605689746797256","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the chocolate 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":"10370306969470151032.mp4"}
+{"uid":"13640857642708569442","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the apple 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":"7646999622695137521.mp4"}
+{"uid":"14589133350936333981","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl. last 20 steps: 1- put red packet in the bucket Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in stand 2- put red packet in the bucket 3- put blue packet in the bucket 4- put blue packet in the bucket 5- put blue packet in the bucket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl Q: immediate next step? \u003cPRED\u003eA: put packet in stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl. last 20 steps: 1- put red packet in the bucket Q: immediate next step? \u003cPRED\u003eA: put packet in stand\n\u003c/PRED\u003e","video":"10912267722710021999.mp4"}
+{"uid":"8361739399594640572","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the blue packet in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl. last 20 steps: 1- put red packet in the bucket 2- put red packet in the bucket 3- put red packet in the bucket 4- put blue packet in the bucket 5- put blue packet in the bucket Q: next 5 steps? \u003cPRED\u003eA: 1- Put the blue packet in the basket 2- put packet in the tray 3- Put the black packet in the bowl 4- put packet in the tray 5- put packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the blue packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl. last 20 steps: 1- put red packet in the bucket 2- put red packet in the bucket 3- put red packet in the bucket 4- put blue packet in the bucket 5- put blue packet in the bucket Q: immediate next step? \u003cPRED\u003eA: Put the blue packet in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the blue packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the blue packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the blue packet in the basket\n\u003c/PRED\u003e","video":"4670283650645425242.mp4"}
+{"uid":"5495761348466755003","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl Q: immediate next step? \u003cPRED\u003eA: put packet in bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl. last 20 steps: 1- put red packet in the bucket 2- put red packet in the bucket 3- put red packet in the bucket 4- put blue packet in the bucket 5- put blue packet in the bucket 6- put blue packet in the bucket 7- put packet in the tray 8- Put the black packet in the bowl 9- put packet in the tray 10- put packet in the tray Q: immediate next step? \u003cPRED\u003eA: put packet in bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl. last 20 steps: 1- put red packet in the bucket 2- put red packet in the bucket 3- put red packet in the bucket 4- put blue packet in the bucket 5- put blue packet in the bucket 6- put blue packet in the bucket 7- put packet in the tray 8- Put the black packet in the bowl 9- put packet in the tray 10- put packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in bowl 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray 5- done\n\u003c/PRED\u003e","video":"1913187594296535710.mp4"}
+{"uid":"18234486208802207158","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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 chips in teh basket and the other snacks in the bowl. last 20 steps: 1- put red packet in the bucket 2- put red packet in the bucket 3- put red packet in the bucket 4- put blue packet in the bucket 5- put blue packet in the bucket 6- put blue packet in the bucket 7- put packet in the tray 8- Put the black packet in the bowl 9- put packet in the tray 10- put packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl Q: immediate next step? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl. last 20 steps: 1- put red packet in the bucket 2- put red packet in the bucket 3- put red packet in the bucket 4- put blue packet in the bucket 5- put blue packet in the bucket 6- put blue packet in the bucket 7- put packet in the tray 8- Put the black packet in the bowl 9- put packet in the tray 10- put packet in the tray Q: immediate next step? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e","video":"17742546272468376535.mp4"}
+{"uid":"7138053653445823830","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the blue packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the blue packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the blue packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the blue packet in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the blue packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl. last 20 steps: 1- put red packet in the bucket 2- put red packet in the bucket 3- put red packet in the bucket Q: next 5 steps? \u003cPRED\u003eA: 1- Put the blue packet in the basket 2- put blue packet in the bucket 3- put blue packet in the bucket 4- put packet in the tray 5- Put the black packet in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl. last 20 steps: 1- put red packet in the bucket 2- put red packet in the bucket 3- put red packet in the bucket Q: immediate next step? \u003cPRED\u003eA: Put the blue packet in the basket\n\u003c/PRED\u003e","video":"7206118096998709070.mp4"}
+{"uid":"2832638339064375922","text":"\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:planning:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the white packet in the bowl\n\u003c/PRED\u003e\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: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\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl. last 20 steps: 1- put red packet in the bucket 2- put red packet in the bucket 3- put red packet in the bucket 4- put blue packet in the bucket 5- put blue packet in the bucket 6- put blue packet in the bucket 7- put packet in the tray 8- Put the black packet in the bowl 9- put packet in the tray 10- put packet in the tray 11- put packet in the tray 12- put packet in the tray 13- put packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the white packet in the bowl 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl. last 20 steps: 1- put red packet in the bucket 2- put red packet in the bucket 3- put red packet in the bucket 4- put blue packet in the bucket 5- put blue packet in the bucket 6- put blue packet in the bucket 7- put packet in the tray 8- Put the black packet in the bowl 9- put packet in the tray 10- put packet in the tray 11- put packet in the tray 12- put packet in the tray 13- put packet in the tray Q: immediate next step? \u003cPRED\u003eA: Put the white packet in the bowl\n\u003c/PRED\u003e","video":"16203711153310705493.mp4"}
+{"uid":"8256427405410344062","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the blue 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":"13815018203164994502.mp4"}
+{"uid":"10217678050314853729","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the red packet in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the red packet in the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl. last 20 steps: 1- put red packet in the bucket 2- put red packet in the bucket Q: immediate next step? \u003cPRED\u003eA: Put the red packet in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the red packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the red packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the red packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl. last 20 steps: 1- put red packet in the bucket 2- put red packet in the bucket Q: next 5 steps? \u003cPRED\u003eA: 1- Put the red packet in the basket 2- put blue packet in the bucket 3- put blue packet in the bucket 4- put blue packet in the bucket 5- put packet in the tray\n\u003c/PRED\u003e","video":"3488581356929998972.mp4"}
+{"uid":"6000730465424348254","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl. last 20 steps: 1- put red packet in the bucket 2- put red packet in the bucket Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in stand 2- put blue packet in the bucket 3- put blue packet in the bucket 4- put blue packet in the bucket 5- put packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet 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: place the chips in teh basket and the other snacks in the bowl. last 20 steps: 1- put red packet in the bucket 2- put red packet in the bucket Q: immediate next step? \u003cPRED\u003eA: put packet in stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl Q: immediate next step? \u003cPRED\u003eA: put packet in stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in stand\n\u003c/PRED\u003e","video":"327089030964122883.mp4"}
+{"uid":"17901548854858267138","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":"8085685274561774398.mp4"}
+{"uid":"2711678034491694493","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":"5814872303053603787.mp4"}
+{"uid":"11417219170186350332","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl. last 20 steps: 1- put red packet in the bucket Q: next 5 steps? \u003cPRED\u003eA: 1- Put the red packet in the basket 2- put red packet in the bucket 3- put blue packet in the bucket 4- put blue packet in the bucket 5- put blue packet in the bucket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the red packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the red packet in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the red packet in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the red packet in the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl. last 20 steps: 1- put red packet in the bucket Q: immediate next step? \u003cPRED\u003eA: Put the red packet in the basket\n\u003c/PRED\u003e","video":"17581301376447223547.mp4"}
+{"uid":"17518856874843300896","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put red packet in the bucket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput red packet in the bucket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6415667168061683057.mp4"}
+{"uid":"16871993087156347842","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the sanitizer bottle 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":"11944697557354166761.mp4"}
+{"uid":"6908378141644809792","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"11516641278883871680.mp4"}
+{"uid":"10338189152866592191","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packet in stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput packet 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":"2990236230767519673.mp4"}
+{"uid":"15296130607412748941","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove towards the cheese balls snacks 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":"15423212375966811230.mp4"}
+{"uid":"17782082393412721584","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl. last 20 steps: 1- put red packet in the bucket 2- put red packet in the bucket 3- put red packet in the bucket 4- put blue packet in the bucket 5- put blue packet in the bucket 6- put blue packet in the bucket 7- put packet in the tray 8- Put the black packet in the bowl 9- put packet in the tray 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: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: place the chips in teh basket and the other snacks in the 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\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl. last 20 steps: 1- put red packet in the bucket 2- put red packet in the bucket 3- put red packet in the bucket 4- put blue packet in the bucket 5- put blue packet in the bucket 6- put blue packet in the bucket 7- put packet in the tray 8- Put the black packet in the bowl 9- put packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the brown packet in the bowl 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray 5- put packet in the tray\n\u003c/PRED\u003e","video":"10370727062308503429.mp4"}
+{"uid":"3499536047550260991","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":"11514515218177911992.mp4"}
+{"uid":"4668951224513746450","text":"\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","video":"11006527338498372673.mp4"}
+{"uid":"5494619592979592323","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl. last 20 steps: 1- put red packet in the bucket 2- put red packet in the bucket 3- put red packet in the bucket 4- put blue packet in the bucket 5- put blue packet in the bucket 6- put blue packet in the bucket 7- put packet in the tray 8- Put the black packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray 5- put packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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 chips in teh basket and the other snacks in the bowl Q: immediate next step? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl. last 20 steps: 1- put red packet in the bucket 2- put red packet in the bucket 3- put red packet in the bucket 4- put blue packet in the bucket 5- put blue packet in the bucket 6- put blue packet in the bucket 7- put packet in the tray 8- Put the black packet in the bowl Q: immediate next step? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e","video":"8087565499605067329.mp4"}
+{"uid":"4052377629039625213","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the green cup 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":"14870134987882496821.mp4"}
+{"uid":"402055575809501972","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put blue packet in the bucket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput blue packet in the bucket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8116790580606247450.mp4"}
+{"uid":"9895474530275333741","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl. last 20 steps: 1- put red packet in the bucket 2- put red packet in the bucket 3- put red packet in the bucket 4- put blue packet in the bucket 5- put blue packet in the bucket 6- put blue packet in the bucket 7- put packet in the tray 8- Put the black packet in the bowl 9- put packet in the tray 10- put packet in the tray 11- put packet in the tray 12- put packet in the tray 13- put packet in the tray 14- put packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl. last 20 steps: 1- put red packet in the bucket 2- put red packet in the bucket 3- put red packet in the bucket 4- put blue packet in the bucket 5- put blue packet in the bucket 6- put blue packet in the bucket 7- put packet in the tray 8- Put the black packet in the bowl 9- put packet in the tray 10- put packet in the tray 11- put packet in the tray 12- put packet in the tray 13- put packet in the tray 14- put 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 packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17360692531878281590.mp4"}
+{"uid":"1169919823022235476","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl Q: immediate next step? \u003cPRED\u003eA: put packet in bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl. last 20 steps: 1- put red packet in the bucket 2- put red packet in the bucket 3- put red packet in the bucket 4- put blue packet in the bucket 5- put blue packet in the bucket 6- put blue packet in the bucket Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in bowl 2- Put the black packet in the bowl 3- put packet in the tray 4- put packet in the tray 5- put packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet in bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl. last 20 steps: 1- put red packet in the bucket 2- put red packet in the bucket 3- put red packet in the bucket 4- put blue packet in the bucket 5- put blue packet in the bucket 6- put blue packet in the bucket Q: immediate next step? \u003cPRED\u003eA: put packet in bowl\n\u003c/PRED\u003e","video":"7265400749126224799.mp4"}
+{"uid":"11814292441990359834","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put blue packet in the bucket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput blue packet in the bucket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17337303462664361086.mp4"}
+{"uid":"9870665356159706176","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl. last 20 steps: 1- put red packet in the bucket 2- put red packet in the bucket 3- put red packet in the bucket 4- put blue packet in the bucket 5- put blue packet in the bucket 6- put blue packet in the bucket 7- put packet in the tray 8- Put the black packet in the bowl 9- put packet in the tray 10- put packet in the tray 11- put packet in the tray 12- put packet in the tray Q: immediate next step? \u003cPRED\u003eA: Put the orange packet in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the orange 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 orange packet in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl. last 20 steps: 1- put red packet in the bucket 2- put red packet in the bucket 3- put red packet in the bucket 4- put blue packet in the bucket 5- put blue packet in the bucket 6- put blue packet in the bucket 7- put packet in the tray 8- Put the black packet in the bowl 9- put packet in the tray 10- put packet in the tray 11- put packet in the tray 12- put packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange packet in the bowl 2- put packet in the tray 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange 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 orange packet in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the orange packet in the bowl\n\u003c/PRED\u003e","video":"4477959963456934276.mp4"}
+{"uid":"7406887197643132257","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the 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":"2725682767210584997.mp4"}
+{"uid":"14263687345734133041","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the black chip 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":"6533578125150531238.mp4"}
+{"uid":"13093698265333531112","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl. last 20 steps: 1- put red packet in the bucket 2- put red packet in the bucket Q: next 5 steps? \u003cPRED\u003eA: 1- put red packet in the bucket 2- put blue packet in the bucket 3- put blue packet in the bucket 4- put blue packet in the bucket 5- put packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl Q: immediate next step? \u003cPRED\u003eA: put red packet in the bucket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put red packet in the bucket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput red packet in the bucket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put red packet in the bucket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl. last 20 steps: 1- put red packet in the bucket 2- put red packet in the bucket Q: immediate next step? \u003cPRED\u003eA: put red packet in the bucket\n\u003c/PRED\u003e","video":"10852578988917505041.mp4"}
+{"uid":"5603708850269459702","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the brown box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16616562655149011282.mp4"}
+{"uid":"9688130981715566874","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npickup the green marker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14578411349462166987.mp4"}
+{"uid":"816337602492297311","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl Q: immediate next step? \u003cPRED\u003eA: put blue packet in the bucket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput blue packet in the bucket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED: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 packet in the bucket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue packet in the bucket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl. last 20 steps: 1- put red packet in the bucket 2- put red packet in the bucket 3- put red packet in the bucket Q: immediate next step? \u003cPRED\u003eA: put blue packet in the bucket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue packet in the bucket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl. last 20 steps: 1- put red packet in the bucket 2- put red packet in the bucket 3- put red packet in the bucket Q: next 5 steps? \u003cPRED\u003eA: 1- put blue packet in the bucket 2- put blue packet in the bucket 3- put blue packet in the bucket 4- put packet in the tray 5- Put the black packet in the bowl\n\u003c/PRED\u003e","video":"13353028779327070855.mp4"}
+{"uid":"3449397386137212401","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl Q: immediate next step? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl. last 20 steps: 1- put red packet in the bucket 2- put red packet in the bucket 3- put red packet in the bucket 4- put blue packet in the bucket 5- put blue packet in the bucket 6- put blue packet in the bucket 7- put packet in the tray 8- Put the black packet in the bowl 9- put packet in the tray 10- put packet in the tray 11- put packet in the tray 12- put packet in the tray 13- put packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the tray 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl. last 20 steps: 1- put red packet in the bucket 2- put red packet in the bucket 3- put red packet in the bucket 4- put blue packet in the bucket 5- put blue packet in the bucket 6- put blue packet in the bucket 7- put packet in the tray 8- Put the black packet in the bowl 9- put packet in the tray 10- put packet in the tray 11- put packet in the tray 12- put packet in the tray 13- put packet in the tray Q: immediate next step? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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":"11443155201241423544.mp4"}
+{"uid":"3654024129482488222","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":"6161331135991901217.mp4"}
+{"uid":"16683258652191850703","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl. last 20 steps: 1- put red packet in the bucket 2- put red packet in the bucket 3- put red packet in the bucket 4- put blue packet in the bucket 5- put blue packet in the bucket 6- put blue packet in the bucket 7- put packet in the tray 8- Put the black packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the black packet in the bowl 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray 5- put packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the black packet in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the black packet in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl. last 20 steps: 1- put red packet in the bucket 2- put red packet in the bucket 3- put red packet in the bucket 4- put blue packet in the bucket 5- put blue packet in the bucket 6- put blue packet in the bucket 7- put packet in the tray 8- Put the black packet in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the black 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 black packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the black 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":"8226603629616155919.mp4"}
+{"uid":"13268654095054099094","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl. last 20 steps: 1- put red packet in the bucket 2- put red packet in the bucket 3- put red packet in the bucket Q: immediate next step? \u003cPRED\u003eA: put packet in stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl. last 20 steps: 1- put red packet in the bucket 2- put red packet in the bucket 3- put red packet in the bucket Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in stand 2- put blue packet in the bucket 3- put blue packet in the bucket 4- put packet in the tray 5- Put the black packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl Q: immediate next step? \u003cPRED\u003eA: put packet in stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet 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":"10031892651382484061.mp4"}
+{"uid":"608200470525077080","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl. last 20 steps: 1- put red packet in the bucket 2- put red packet in the bucket 3- put red packet in the bucket 4- put blue packet in the bucket 5- put blue packet in the bucket 6- put blue packet in the bucket Q: next 5 steps? \u003cPRED\u003eA: 1- Put the white packet in the bowl 2- Put the black packet in the bowl 3- put packet in the tray 4- put packet in the tray 5- put packet in the tray\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\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: place the chips in teh basket and the other snacks in the bowl. last 20 steps: 1- put red packet in the bucket 2- put red packet in the bucket 3- put red packet in the bucket 4- put blue packet in the bucket 5- put blue packet in the bucket 6- put blue packet in the bucket 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: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:planning:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the white packet in the bowl\n\u003c/PRED\u003e","video":"12239467802807913877.mp4"}
+{"uid":"12285666470854506822","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"9720190065107272250.mp4"}
+{"uid":"15741233943831796132","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":"1053173872052936410.mp4"}
+{"uid":"3646588257514625580","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the caps in the middle of the organizer beside grey 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":"12961356536138726424.mp4"}
+{"uid":"227878401654859270","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove to the green 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":"12194835529162572783.mp4"}
+{"uid":"2517910004589376943","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl. last 20 steps: 1- put red packet in the bucket 2- put red packet in the bucket 3- put red packet in the bucket 4- put blue packet in the bucket 5- put blue packet in the bucket Q: immediate next step? \u003cPRED\u003eA: put blue packet in the bucket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue packet in the bucket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput blue packet in the bucket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED: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 packet in the bucket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue packet in the bucket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl. last 20 steps: 1- put red packet in the bucket 2- put red packet in the bucket 3- put red packet in the bucket 4- put blue packet in the bucket 5- put blue packet in the bucket Q: next 5 steps? \u003cPRED\u003eA: 1- put blue packet in the bucket 2- put packet in the tray 3- Put the black packet in the bowl 4- put packet in the tray 5- put packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl Q: immediate next step? \u003cPRED\u003eA: put blue packet in the bucket\n\u003c/PRED\u003e","video":"4786093764750792113.mp4"}
+{"uid":"13024609256553662483","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl. last 20 steps: 1- put red packet in the bucket 2- put red packet in the bucket 3- put red packet in the bucket 4- put blue packet in the bucket 5- put blue packet in the bucket 6- put blue packet in the bucket 7- put packet in the tray 8- Put the black packet in the bowl 9- put packet in the tray 10- put packet in the tray 11- put packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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 chips in teh basket and the other snacks in the bowl Q: immediate next step? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl. last 20 steps: 1- put red packet in the bucket 2- put red packet in the bucket 3- put red packet in the bucket 4- put blue packet in the bucket 5- put blue packet in the bucket 6- put blue packet in the bucket 7- put packet in the tray 8- Put the black packet in the bowl 9- put packet in the tray 10- put packet in the tray 11- put packet in the tray Q: immediate next step? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e","video":"8605617927392729636.mp4"}
+{"uid":"1728189797535567926","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue packet in the bucket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl. last 20 steps: 1- put red packet in the bucket 2- put red packet in the bucket 3- put red packet in the bucket 4- put blue packet in the bucket Q: next 5 steps? \u003cPRED\u003eA: 1- put blue packet in the bucket 2- put blue packet in the bucket 3- put packet in the tray 4- Put the black packet in the bowl 5- put packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl. last 20 steps: 1- put red packet in the bucket 2- put red packet in the bucket 3- put red packet in the bucket 4- put blue packet in the bucket Q: immediate next step? \u003cPRED\u003eA: put blue packet in the bucket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput blue packet in the bucket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl Q: immediate next step? \u003cPRED\u003eA: put blue packet in the bucket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue packet in the bucket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue packet in the bucket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3907985032973734995.mp4"}
+{"uid":"5668444291012856290","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace banana in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13966633131700298995.mp4"}
+{"uid":"16953172383660762588","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl. last 20 steps: 1- put red packet in the bucket 2- put red packet in the bucket 3- put red packet in the bucket 4- put blue packet in the bucket 5- put blue packet in the bucket 6- put blue packet in the bucket 7- put packet in the tray 8- Put the black packet in the bowl 9- put packet in the tray 10- put packet in the tray 11- put packet in the tray Q: immediate next step? \u003cPRED\u003eA: Put the black packet in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the black 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl. last 20 steps: 1- put red packet in the bucket 2- put red packet in the bucket 3- put red packet in the bucket 4- put blue packet in the bucket 5- put blue packet in the bucket 6- put blue packet in the bucket 7- put packet in the tray 8- Put the black packet in the bowl 9- put packet in the tray 10- put packet in the tray 11- put packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the black packet in the bowl 2- put packet in the tray 3- put packet in 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 black packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the black 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: place the chips in teh basket and the other snacks in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the black packet in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the black packet in the bowl\n\u003c/PRED\u003e","video":"18041756473131205317.mp4"}
+{"uid":"17751560722205005940","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nupright 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":"8466568973472699726.mp4"}
+{"uid":"11443785383727891120","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packet in stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput packet 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":"5769397878690566752.mp4"}
+{"uid":"9193044962379018146","text":"\u003ctask:success:discrete:False\u003e\nput 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 packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl Q: immediate next step? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl. last 20 steps: 1- put red packet in the bucket 2- put red packet in the bucket 3- put red packet in the bucket 4- put blue packet in the bucket 5- put blue packet in the bucket 6- put blue packet in the bucket Q: immediate next step? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl. last 20 steps: 1- put red packet in the bucket 2- put red packet in the bucket 3- put red packet in the bucket 4- put blue packet in the bucket 5- put blue packet in the bucket 6- put blue packet in the bucket Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the tray 2- Put the black packet in the bowl 3- put packet in the tray 4- put packet in the tray 5- put packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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":"11968383729358453115.mp4"}
+{"uid":"13429585676755020840","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the red packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the red packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the red packet in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the red packet in the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the red packet in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the red packet in the basket 2- put red packet in the bucket 3- put red packet in the bucket 4- put blue packet in the bucket 5- put blue packet in the bucket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the red packet in the basket\n\u003c/PRED\u003e","video":"15663679643027616680.mp4"}
+{"uid":"9953901090633545823","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":"12759963119553671080.mp4"}
+{"uid":"11793658887256976856","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl. last 20 steps: 1- put red packet in the bucket 2- put red packet in the bucket 3- put red packet in the bucket 4- put blue packet in the bucket 5- put blue packet in the bucket 6- put blue packet in the bucket 7- put packet in the tray 8- Put the black packet in the bowl 9- put packet in the tray 10- put packet in the tray 11- put packet in the tray Q: immediate next step? \u003cPRED\u003eA: put packet in bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl Q: immediate next step? \u003cPRED\u003eA: put packet in bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl. last 20 steps: 1- put red packet in the bucket 2- put red packet in the bucket 3- put red packet in the bucket 4- put blue packet in the bucket 5- put blue packet in the bucket 6- put blue packet in the bucket 7- put packet in the tray 8- Put the black packet in the bowl 9- put packet in the tray 10- put packet in the tray 11- put packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in bowl 2- put packet in the tray 3- put packet in the tray 4- done\n\u003c/PRED\u003e","video":"10703927102746094800.mp4"}
+{"uid":"497754332144185180","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl. last 20 steps: 1- put red packet in the bucket 2- put red packet in the bucket 3- put red packet in the bucket 4- put blue packet in the bucket Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in stand 2- put blue packet in the bucket 3- put packet in the tray 4- Put the black packet in the bowl 5- put packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl Q: immediate next step? \u003cPRED\u003eA: put packet in stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet in stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl. last 20 steps: 1- put red packet in the bucket 2- put red packet in the bucket 3- put red packet in the bucket 4- put blue packet in the bucket Q: immediate next step? \u003cPRED\u003eA: put packet in stand\n\u003c/PRED\u003e","video":"5626036724999380499.mp4"}
+{"uid":"409610539321624681","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the black 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl. last 20 steps: 1- put red packet in the bucket 2- put red packet in the bucket 3- put red packet in the bucket 4- put blue packet in the bucket 5- put blue packet in the bucket 6- put blue packet in the bucket 7- put packet in the tray Q: immediate next step? \u003cPRED\u003eA: Put the black packet in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the black packet in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the black 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: place the chips in teh basket and the other snacks in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the black packet in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl. last 20 steps: 1- put red packet in the bucket 2- put red packet in the bucket 3- put red packet in the bucket 4- put blue packet in the bucket 5- put blue packet in the bucket 6- put blue packet in the bucket 7- put packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the black packet in the bowl 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray 5- put 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 black packet in the bowl\n\u003c/PRED\u003e","video":"16382482157907588229.mp4"}
+{"uid":"10886740431235841815","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl Q: immediate next step? \u003cPRED\u003eA: put packet in bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl. last 20 steps: 1- put red packet in the bucket 2- put red packet in the bucket 3- put red packet in the bucket 4- put blue packet in the bucket 5- put blue packet in the bucket 6- put blue packet in the bucket 7- put packet in the tray 8- Put the black packet in the bowl Q: immediate next step? \u003cPRED\u003eA: put packet in bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl. last 20 steps: 1- put red packet in the bucket 2- put red packet in the bucket 3- put red packet in the bucket 4- put blue packet in the bucket 5- put blue packet in the bucket 6- put blue packet in the bucket 7- put packet in the tray 8- Put the black packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in bowl 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray 5- put packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet in bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"736961797102809429.mp4"}
+{"uid":"8877648384691952654","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13282124371439312912.mp4"}
+{"uid":"10715709577845177219","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packet in bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput packet in bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12167604880989276148.mp4"}
+{"uid":"18390761268810859695","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl. last 20 steps: 1- put red packet in the bucket 2- put red packet in the bucket 3- put red packet in the bucket 4- put blue packet in the bucket 5- put blue packet in the bucket Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in stand 2- put packet in the tray 3- Put the black packet in the bowl 4- put packet in the tray 5- put packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl. last 20 steps: 1- put red packet in the bucket 2- put red packet in the bucket 3- put red packet in the bucket 4- put blue packet in the bucket 5- put blue packet in the bucket Q: immediate next step? \u003cPRED\u003eA: put packet in stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet 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 packet 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:planning:freeform\u003e\ncurrent goal is: place the chips in teh basket and the other snacks in the bowl Q: immediate next step? \u003cPRED\u003eA: put packet in stand\n\u003c/PRED\u003e","video":"5653691793712588300.mp4"}
+{"uid":"14019960567461644830","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nslightly move 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":"3141136097501969769.mp4"}
+{"uid":"9761230336875706233","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the red packet in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the red packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17119367511401360535.mp4"}
+{"uid":"473969443088361387","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13948908123989618250.mp4"}
+{"uid":"13195711401910273744","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":"8919787131447964118.mp4"}
+{"uid":"1765117758286782251","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the oatmeal into the tray Q: immediate next step? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the oatmeal into the tray. last 20 steps: 1- place the packet in the tray 2- place the packet in the tray 3- place the packet in the tray 4- place the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in the tray 2- place the packet in the tray 3- place the packet in the tray 4- place the packet in the tray 5- place the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the oatmeal into the tray. last 20 steps: 1- place the packet in the tray 2- place the packet in the tray 3- place the packet in the tray 4- place the packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e","video":"3987527259504085470.mp4"}
+{"uid":"3208306804125279702","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":"1521370174146474656.mp4"}
+{"uid":"6396293054369925479","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the fridge Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the fridge Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Bring a hint water from the MK to RC5. Q: immediate next step? \u003cPRED\u003eA: open the fridge\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Bring a hint water from the MK to RC5. last 20 steps: 1- open the gate 2- close the gate Q: next 5 steps? \u003cPRED\u003eA: 1- open the fridge 2- Take the bottle near the gate 3- open the gate 4- place the bottle on the table 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the fridge\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the fridge\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Bring a hint water from the MK to RC5. last 20 steps: 1- open the gate 2- close the gate Q: immediate next step? \u003cPRED\u003eA: open the fridge\n\u003c/PRED\u003e","video":"13653993467119317841.mp4"}
+{"uid":"10433773243546063238","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw water bottle from my desk . last 20 steps: 1- pick up the bottle Q: immediate next step? \u003cPRED\u003eA: place the bottle in the trash bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the bottle in the trash bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the bottle in the trash bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the bottle in the trash bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the bottle in the trash bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw water bottle from my desk . last 20 steps: 1- pick up the bottle Q: next 5 steps? \u003cPRED\u003eA: 1- place the bottle in the trash bin 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you throw water bottle from my desk Q: immediate next step? \u003cPRED\u003eA: place the bottle in the trash bin\n\u003c/PRED\u003e","video":"3708914822334087957.mp4"}
+{"uid":"17263212537242126897","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":"16379252618243181796.mp4"}
+{"uid":"7158182882474135249","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the fridge\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nopen the fridge Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9498379610355029517.mp4"}
+{"uid":"13173329862457602588","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a paper clip in a pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18388266225559037193.mp4"}
+{"uid":"18289281126897517046","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove towards the table. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12908137262075576057.mp4"}
+{"uid":"16496716491620704622","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":"5540663264661142226.mp4"}
+{"uid":"12884965011542684540","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace orange into bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place orange into bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place orange into bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace orange into bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stock the bowl with oranges Q: immediate next step? \u003cPRED\u003eA: place orange into bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stock the bowl with oranges. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place orange into bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stock the bowl with oranges. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place orange into bowl 2- place orange into bowl 3- place orange into bowl 4- place orange into bowl 5- done\n\u003c/PRED\u003e","video":"1279988037961783834.mp4"}
+{"uid":"17312578882142033260","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Take the bottle near the gate\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nTake the bottle near the gate Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12831302279457591217.mp4"}
+{"uid":"13202815391444526512","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the spoon in a pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11664059009291505008.mp4"}
+{"uid":"11008706188486807455","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":"8026001859203018447.mp4"}
+{"uid":"1723059075635066157","text":"\u003ctask:success:discrete:True\u003e\nplace the packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e","video":"9588414081093619028.mp4"}
+{"uid":"920648722003570954","text":"\u003ctask:success:discrete:True\u003e\nplace orange into bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place orange into bowl\n\u003c/PRED\u003e","video":"4441215201340070134.mp4"}
+{"uid":"10504296511687266331","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":"3061449480378693658.mp4"}
+{"uid":"17147521924383826143","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the second orange in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the second orange in a bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the second orange in a bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the second orange in a bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stock the bowl with oranges Q: immediate next step? \u003cPRED\u003eA: Put the second orange in a bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stock the bowl with oranges. last 20 steps: 1- place orange into bowl Q: immediate next step? \u003cPRED\u003eA: Put the second orange in a bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stock the bowl with oranges. last 20 steps: 1- place orange into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the second orange in a bowl 2- place orange into bowl 3- place orange into bowl 4- done\n\u003c/PRED\u003e","video":"12242308121388696514.mp4"}
+{"uid":"2888765758567346125","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12325358464487541492.mp4"}
+{"uid":"17637221289376882277","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":"14731758945721522081.mp4"}
+{"uid":"15089584112115164560","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stock the bowl with oranges Q: immediate next step? \u003cPRED\u003eA: Place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stock the bowl with oranges. last 20 steps: 1- place orange into bowl 2- place orange into bowl Q: immediate next step? \u003cPRED\u003eA: Place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stock the bowl with oranges. last 20 steps: 1- place orange into bowl 2- place orange into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the orange in the bowl 2- place orange into bowl 3- done\n\u003c/PRED\u003e","video":"16725635664867989993.mp4"}
+{"uid":"3380653057012865477","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Take the bottle near the gate\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Bring a hint water from the MK to RC5. last 20 steps: 1- open the gate 2- close the gate 3- open the fridge Q: next 5 steps? \u003cPRED\u003eA: 1- Take the bottle near the gate 2- open the gate 3- place the bottle on the table 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Take the bottle near the gate\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nTake the bottle near the gate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nTake the bottle near the gate Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Bring a hint water from the MK to RC5. last 20 steps: 1- open the gate 2- close the gate 3- open the fridge Q: immediate next step? \u003cPRED\u003eA: Take the bottle near the gate\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Bring a hint water from the MK to RC5. Q: immediate next step? \u003cPRED\u003eA: Take the bottle near the gate\n\u003c/PRED\u003e","video":"9018328684558606777.mp4"}
+{"uid":"2952135249429207655","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Bring a hint water from the MK to RC5. last 20 steps: 1- open the gate 2- close the gate 3- open the fridge 4- Take the bottle near the gate Q: next 5 steps? \u003cPRED\u003eA: 1- open the gate 2- place the bottle on the table 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Bring a hint water from the MK to RC5. last 20 steps: 1- open the gate 2- close the gate 3- open the fridge 4- Take the bottle near the gate Q: immediate next step? \u003cPRED\u003eA: open the gate\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the gate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 gate\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the gate\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the gate Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Bring a hint water from the MK to RC5. Q: immediate next step? \u003cPRED\u003eA: open the gate\n\u003c/PRED\u003e","video":"11701112447676040545.mp4"}
+{"uid":"5340613709043305086","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":"10502643049147662085.mp4"}
+{"uid":"5542782649629035142","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the brown chips 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":"10590969506377769279.mp4"}
+{"uid":"3187080718786349018","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the gate\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the gate\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Bring a hint water from the MK to RC5. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the gate\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Bring a hint water from the MK to RC5. Q: immediate next step? \u003cPRED\u003eA: open the gate\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the gate Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED: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 gate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Bring a hint water from the MK to RC5. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the gate 2- close the gate 3- open the fridge 4- Take the bottle near the gate 5- open the gate\n\u003c/PRED\u003e","video":"5726861011932725917.mp4"}
+{"uid":"8633135330671011508","text":"\u003ctask:success:discrete:False\u003e\nplace the bottle on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the bottle on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Bring a hint water from the MK to RC5. Q: immediate next step? \u003cPRED\u003eA: place the bottle on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Bring a hint water from the MK to RC5. last 20 steps: 1- open the gate 2- close the gate 3- open the fridge 4- Take the bottle near the gate 5- open the gate Q: immediate next step? \u003cPRED\u003eA: place the bottle on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Bring a hint water from the MK to RC5. last 20 steps: 1- open the gate 2- close the gate 3- open the fridge 4- Take the bottle near the gate 5- open the gate Q: next 5 steps? \u003cPRED\u003eA: 1- place the bottle 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 bottle on the table\n\u003c/PRED\u003e","video":"11134285462401411967.mp4"}
+{"uid":"12426479785071978385","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the plastic glass on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5795575310710937167.mp4"}
+{"uid":"17554212393759042262","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop it in the 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":"10058642519726652794.mp4"}
+{"uid":"641196434851367107","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop pistachio in a cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7266836846493561474.mp4"}
+{"uid":"17927557355535858877","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the gripper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16729881741977523033.mp4"}
+{"uid":"723672890215312959","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: can you throw water bottle from my desk Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the bottle in the trash bin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the bottle in the trash bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw water bottle from my desk . last 20 steps: 1- pick up the bottle 2- place the bottle in the trash bin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw water bottle from my desk . last 20 steps: 1- pick up the bottle 2- place the bottle in the trash bin Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"15682771311902732877.mp4"}
+{"uid":"14156410689286170644","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the oatmeal into the tray Q: immediate next step? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the oatmeal into the tray. last 20 steps: 1- place the packet in the tray 2- place the packet in the tray 3- place the packet in the tray 4- place the packet in the tray 5- place the packet in the tray 6- place the packet in the tray 7- place the packet in the tray 8- place the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in the tray 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the oatmeal into the tray. last 20 steps: 1- place the packet in the tray 2- place the packet in the tray 3- place the packet in the tray 4- place the packet in the tray 5- place the packet in the tray 6- place the packet in the tray 7- place the packet in the tray 8- place the packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e","video":"8249668772293239289.mp4"}
+{"uid":"4052983817758332843","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the third orange in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the third orange in a bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the third orange in a bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the third orange in a bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stock the bowl with oranges Q: immediate next step? \u003cPRED\u003eA: Put the third orange in a bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stock the bowl with oranges. last 20 steps: 1- place orange into bowl 2- place orange into bowl Q: immediate next step? \u003cPRED\u003eA: Put the third orange in a bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stock the bowl with oranges. last 20 steps: 1- place orange into bowl 2- place orange into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the third orange in a bowl 2- place orange into bowl 3- done\n\u003c/PRED\u003e","video":"12202126232110946888.mp4"}
+{"uid":"684860888022830393","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace spoon in the black 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":"17913306176164873704.mp4"}
+{"uid":"2992825348017757145","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Bring a hint water from the MK to RC5. last 20 steps: 1- open the gate Q: immediate next step? \u003cPRED\u003eA: close the gate\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the gate\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Bring a hint water from the MK to RC5. Q: immediate next step? \u003cPRED\u003eA: close the gate\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Bring a hint water from the MK to RC5. last 20 steps: 1- open the gate Q: next 5 steps? \u003cPRED\u003eA: 1- close the gate 2- open the fridge 3- Take the bottle near the gate 4- open the gate 5- place the bottle on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the gate Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED: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 gate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the gate\n\u003c/PRED\u003e","video":"12420853135828310903.mp4"}
+{"uid":"8666256103965863204","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGo to the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12184728101663130587.mp4"}
+{"uid":"14237194832600731559","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace orange into bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place orange into bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place orange into bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stock the bowl with oranges Q: immediate next step? \u003cPRED\u003eA: place orange into bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stock the bowl with oranges. last 20 steps: 1- place orange into bowl 2- place orange into bowl Q: immediate next step? \u003cPRED\u003eA: place orange into bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stock the bowl with oranges. last 20 steps: 1- place orange into bowl 2- place orange into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place orange into bowl 2- place orange into bowl 3- done\n\u003c/PRED\u003e","video":"7535960217061453634.mp4"}
+{"uid":"14522075725983360028","text":"\u003ctask:success:discrete:True\u003e\nplace orange into bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place orange into bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stock the bowl with oranges Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stock the bowl with oranges. last 20 steps: 1- place orange into bowl 2- place orange into bowl 3- place orange into bowl 4- place orange into bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stock the bowl with oranges. last 20 steps: 1- place orange into bowl 2- place orange into bowl 3- place orange into bowl 4- place orange into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"2179975284921113954.mp4"}
+{"uid":"6698489069484881576","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachios in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"986246189936628484.mp4"}
+{"uid":"9950166645571218251","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the oatmeal into the tray Q: immediate next step? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the oatmeal into the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the oatmeal into the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in the tray 2- place the packet in the tray 3- place the packet in the tray 4- place the packet in the tray 5- place the packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9017311992673510375.mp4"}
+{"uid":"10412064113832171903","text":"\u003ctask:success:discrete:True\u003e\nPlace the orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stock the bowl with oranges Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stock the bowl with oranges. last 20 steps: 1- place orange into bowl 2- place orange into bowl 3- place orange into bowl 4- Place the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stock the bowl with oranges. last 20 steps: 1- place orange into bowl 2- place orange into bowl 3- place orange into bowl 4- Place the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"3179473199446232466.mp4"}
+{"uid":"99110685751593970","text":"\u003ctask:success:discrete:False\u003e\npick up the bottle Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you throw water bottle from my desk Q: immediate next step? \u003cPRED\u003eA: pick up the bottle\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the bottle\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the bottle\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw water bottle from my desk . last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the bottle 2- place the bottle in the trash bin 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the bottle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw water bottle from my desk . last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick up the bottle\n\u003c/PRED\u003e","video":"9913509671577661935.mp4"}
+{"uid":"3546169486052579887","text":"\u003ctask:success:discrete:True\u003e\nplace the packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e","video":"1590186646735145466.mp4"}
+{"uid":"1298284822901331153","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the spoon in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12182814938154761763.mp4"}
+{"uid":"9918582061209468361","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the oatmeal into the tray Q: immediate next step? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the oatmeal into the tray. last 20 steps: 1- place the packet in the tray 2- place the packet in the tray 3- place the packet in the tray 4- place the packet in the tray 5- place the packet in the tray 6- place the packet in the tray 7- place the packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the oatmeal into the tray. last 20 steps: 1- place the packet in the tray 2- place the packet in the tray 3- place the packet in the tray 4- place the packet in the tray 5- place the packet in the tray 6- place the packet in the tray 7- place the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in the tray 2- place the packet in the tray 3- done\n\u003c/PRED\u003e","video":"16796521022488295133.mp4"}
+{"uid":"11992124501775308803","text":"\u003ctask:success:discrete:True\u003e\npick up the bottle Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the bottle\n\u003c/PRED\u003e","video":"8057434675170021622.mp4"}
+{"uid":"7299604050171944292","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the plate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9360361637993379915.mp4"}
+{"uid":"6322661705876544433","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the oatmeal into the tray. last 20 steps: 1- place the packet in the tray 2- place the packet in the tray 3- place the packet in the tray 4- place the packet in the tray 5- place the packet in the tray 6- place the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in the tray 2- place the packet in the tray 3- place the packet in the tray 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the oatmeal into the tray Q: immediate next step? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the oatmeal into the tray. last 20 steps: 1- place the packet in the tray 2- place the packet in the tray 3- place the packet in the tray 4- place the packet in the tray 5- place the packet in the tray 6- place the packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e","video":"927931370467049569.mp4"}
+{"uid":"12565081793440082656","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stock the bowl with oranges Q: immediate next step? \u003cPRED\u003eA: Place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stock the bowl with oranges. last 20 steps: 1- place orange into bowl 2- place orange into bowl 3- place orange into bowl Q: immediate next step? \u003cPRED\u003eA: Place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stock the bowl with oranges. last 20 steps: 1- place orange into bowl 2- place orange into bowl 3- place orange into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the orange in the bowl 2- done\n\u003c/PRED\u003e","video":"1623459129639823556.mp4"}
+{"uid":"13567857928488016454","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npull the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11525971358245811761.mp4"}
+{"uid":"15944992331323984076","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the chocolate in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11033731835480941898.mp4"}
+{"uid":"5393680712460327773","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the oatmeal into the tray. last 20 steps: 1- place the packet in the tray 2- place the packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the oatmeal into the tray Q: immediate next step? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the oatmeal into the tray. last 20 steps: 1- place the packet in the tray 2- place the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in the tray 2- place the packet in the tray 3- place the packet in the tray 4- place the packet in the tray 5- place the packet in the tray\n\u003c/PRED\u003e","video":"13566432530605349820.mp4"}
+{"uid":"6072285748632380795","text":"\u003ctask:success:discrete:True\u003e\nplace orange into bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place orange into bowl\n\u003c/PRED\u003e","video":"1061915672725845619.mp4"}
+{"uid":"8717844300888036733","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput forks 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":"2421662708032597717.mp4"}
+{"uid":"6572392802429692864","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the oatmeal into the tray. last 20 steps: 1- place the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in the tray 2- place the packet in the tray 3- place the packet in the tray 4- place the packet in the tray 5- place the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nput 2 pink colour packets 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\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the oatmeal into the tray. last 20 steps: 1- place the packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the oatmeal into the tray Q: immediate next step? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e","video":"5398964715019306306.mp4"}
+{"uid":"1297347981758204814","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the fifth orange in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the fifth orange in a bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the fifth orange in a bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the fifth orange in a bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stock the bowl with oranges Q: immediate next step? \u003cPRED\u003eA: Put the fifth orange in a bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stock the bowl with oranges. last 20 steps: 1- place orange into bowl 2- place orange into bowl 3- place orange into bowl Q: immediate next step? \u003cPRED\u003eA: Put the fifth orange in a bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stock the bowl with oranges. last 20 steps: 1- place orange into bowl 2- place orange into bowl 3- place orange into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the fifth orange in a bowl 2- done\n\u003c/PRED\u003e","video":"2062111761590805075.mp4"}
+{"uid":"8751710262109822037","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace orange into bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place orange into bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place orange into bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stock the bowl with oranges Q: immediate next step? \u003cPRED\u003eA: place orange into bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stock the bowl with oranges. last 20 steps: 1- place orange into bowl Q: immediate next step? \u003cPRED\u003eA: place orange into bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stock the bowl with oranges. last 20 steps: 1- place orange into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place orange into bowl 2- place orange into bowl 3- place orange into bowl 4- done\n\u003c/PRED\u003e","video":"16628460392176707890.mp4"}
+{"uid":"11722534905056216847","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the oatmeal into the tray. last 20 steps: 1- place the packet in the tray 2- place the packet in the tray 3- place the packet in the tray 4- place the packet in the tray 5- place the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in the tray 2- place the packet in the tray 3- place the packet in the tray 4- place the packet in the tray 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the oatmeal into the tray. last 20 steps: 1- place the packet in the tray 2- place the packet in the tray 3- place the packet in the tray 4- place the packet in the tray 5- place the packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the oatmeal into the tray Q: immediate next step? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5363095455224909813.mp4"}
+{"uid":"4571126905753244018","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stock the bowl with oranges Q: immediate next step? \u003cPRED\u003eA: Place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stock the bowl with oranges. last 20 steps: 1- place orange into bowl Q: immediate next step? \u003cPRED\u003eA: Place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stock the bowl with oranges. last 20 steps: 1- place orange into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the orange in the bowl 2- place orange into bowl 3- place orange into bowl 4- done\n\u003c/PRED\u003e","video":"7095297731437385091.mp4"}
+{"uid":"18159614604210662341","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":"4105477913889092022.mp4"}
+{"uid":"7153241339993599547","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the banana on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14962572143204105358.mp4"}
+{"uid":"13511937935854473996","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stock the bowl with oranges Q: immediate next step? \u003cPRED\u003eA: Place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stock the bowl with oranges. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stock the bowl with oranges. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place the orange in the bowl 2- place orange into bowl 3- place orange into bowl 4- place orange into bowl 5- done\n\u003c/PRED\u003e","video":"2853794742235537377.mp4"}
+{"uid":"147223637085975038","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange in a bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange in a bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the orange in a bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stock the bowl with oranges Q: immediate next step? \u003cPRED\u003eA: Put the orange in a bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stock the bowl with oranges. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the orange in a bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stock the bowl with oranges. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange in a bowl 2- place orange into bowl 3- place orange into bowl 4- place orange into bowl 5- done\n\u003c/PRED\u003e","video":"13797444106945994340.mp4"}
+{"uid":"13193825492113632152","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace orange into bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place orange into bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place orange into bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stock the bowl with oranges Q: immediate next step? \u003cPRED\u003eA: place orange into bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stock the bowl with oranges. last 20 steps: 1- place orange into bowl 2- place orange into bowl 3- place orange into bowl Q: immediate next step? \u003cPRED\u003eA: place orange into bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stock the bowl with oranges. last 20 steps: 1- place orange into bowl 2- place orange into bowl 3- place orange into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place orange into bowl 2- done\n\u003c/PRED\u003e","video":"17101748142594970744.mp4"}
+{"uid":"2649016817834308360","text":"\u003ctask:success:discrete:True\u003e\nPut the orange in a bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the orange in a bowl\n\u003c/PRED\u003e","video":"12967865703300466485.mp4"}
+{"uid":"13340739828901435868","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\narrange the chair Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17634429565087586502.mp4"}
+{"uid":"12364033281811820796","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the oatmeal into the tray. last 20 steps: 1- place the packet in the tray 2- place the packet in the tray 3- place the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in the tray 2- place the packet in the tray 3- place the packet in the tray 4- place the packet in the tray 5- place the packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the oatmeal into the tray Q: immediate next step? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the oatmeal into the tray. last 20 steps: 1- place the packet in the tray 2- place the packet in the tray 3- place the packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e","video":"17166207268798487942.mp4"}
+{"uid":"5972539433897986542","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":"2627574378141674887.mp4"}
+{"uid":"12853851515413802019","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange 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":"15449392462787388818.mp4"}
+{"uid":"7193123191179315194","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the pens from the drawer to the pen holder. last 20 steps: 1- open the drawer 2- Put the pen in the holder 3- Put the pens in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pen in the holder 2- Put the pens in the holder 3- Put the pen in the holder 4- Put the pen in the holder 5- Put the pens in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move the pens from the drawer to the pen holder Q: immediate next step? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the pens from the drawer to the pen holder. last 20 steps: 1- open the drawer 2- Put the pen in the holder 3- Put the pens in the holder 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: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\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","video":"10481573758062978186.mp4"}
+{"uid":"8658606681654210986","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the pens from the drawer to the pen holder. last 20 steps: 1- open the drawer 2- Put the pen in the holder 3- Put the pens in the holder 4- Put the pen in the holder 5- Put the pens in the holder 6- Put the pen in the holder 7- Put the pen in the holder 8- Put the pens in the holder 9- Put the pen in the holder 10- Put the pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pen in the holder 2- close the drawer 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move the pens from the drawer to 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the pens from the drawer to the pen holder. last 20 steps: 1- open the drawer 2- Put the pen in the holder 3- Put the pens in the holder 4- Put the pen in the holder 5- Put the pens in the holder 6- Put the pen in the holder 7- Put the pen in the holder 8- Put the pens in the holder 9- Put the pen in the holder 10- Put the pen in the holder Q: immediate next step? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e","video":"10980524078649886736.mp4"}
+{"uid":"14751700095909539485","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":"7969959673304107919.mp4"}
+{"uid":"17826892687122358018","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the yellow candy on the floor\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I got a wrong item can you put it back and get me a laffy taffy from Mk kitchen to my desk. last 20 steps: 1- Pickup the popcorn snack packect 2- Exit the room 3- Place the popcorn snack packet on the floor 4- Open the cardboard drawer 5- place the popcorn snack packet in the drawer 6- Close the cardboard drawer 7- Open the cardboard drawer Q: immediate next step? \u003cPRED\u003eA: Place the yellow candy on the floor\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I got a wrong item can you put it back and get me a laffy taffy from Mk kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: Place the yellow candy on the floor\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the yellow candy on the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I got a wrong item can you put it back and get me a laffy taffy from Mk kitchen to my desk. last 20 steps: 1- Pickup the popcorn snack packect 2- Exit the room 3- Place the popcorn snack packet on the floor 4- Open the cardboard drawer 5- place the popcorn snack packet in the drawer 6- Close the cardboard drawer 7- Open the cardboard drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Place the yellow candy on the floor 2- Close the cardboard door 3- Pickup the yellow candy on the floor 4- Exit the room 5- Place the yellow candy on the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the yellow candy 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: Place the yellow candy on the floor\n\u003c/PRED\u003e","video":"14405675363666374138.mp4"}
+{"uid":"723958713902583947","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove to the right Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16824526946614681043.mp4"}
+{"uid":"16512337564615247886","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the pens from the drawer to the pen holder. last 20 steps: 1- open the drawer 2- Put the pen in the holder 3- Put the pens in the holder 4- Put the pen in the holder 5- Put the pens in the holder 6- Put the pen in the holder 7- Put the pen in the holder 8- Put the pens in the holder 9- Put the pen in the holder Q: immediate next step? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move the pens from the drawer to the pen holder Q: immediate next step? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the pens from the drawer to the pen holder. last 20 steps: 1- open the drawer 2- Put the pen in the holder 3- Put the pens in the holder 4- Put the pen in the holder 5- Put the pens in the holder 6- Put the pen in the holder 7- Put the pen in the holder 8- Put the pens in the holder 9- Put the pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pen in the holder 2- Put the pen in the holder 3- close the drawer 4- done\n\u003c/PRED\u003e","video":"332743405105947722.mp4"}
+{"uid":"4236345469402807132","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pickup the popcorn snack packect\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPickup the popcorn snack packect Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pickup the popcorn snack packect\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I got a wrong item can you put it back and get me a laffy taffy from Mk kitchen to my desk. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Pickup the popcorn snack packect\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I got a wrong item can you put it back and get me a laffy taffy from Mk kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: Pickup the popcorn snack packect\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPickup the popcorn snack packect Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 got a wrong item can you put it back and get me a laffy taffy from Mk kitchen to my desk. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Pickup the popcorn snack packect 2- Exit the room 3- Place the popcorn snack packet on the floor 4- Open the cardboard drawer 5- place the popcorn snack packet in the drawer\n\u003c/PRED\u003e","video":"14654328148382399403.mp4"}
+{"uid":"3302504425790201419","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":"4800518566924339610.mp4"}
+{"uid":"15018184464059952725","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the yellow candy on the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the yellow candy on the floor\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the yellow candy on the floor\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I got a wrong item can you put it back and get me a laffy taffy from Mk kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: Place the yellow candy on the floor\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I got a wrong item can you put it back and get me a laffy taffy from Mk kitchen to my desk. last 20 steps: 1- Pickup the popcorn snack packect 2- Exit the room 3- Place the popcorn snack packet on the floor 4- Open the cardboard drawer 5- place the popcorn snack packet in the drawer 6- Close the cardboard drawer 7- Open the cardboard drawer 8- Place the yellow candy on the floor 9- Close the cardboard door 10- Pickup the yellow candy on the floor 11- Exit the room Q: immediate next step? \u003cPRED\u003eA: Place the yellow candy on the floor\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I got a wrong item can you put it back and get me a laffy taffy from Mk kitchen to my desk. last 20 steps: 1- Pickup the popcorn snack packect 2- Exit the room 3- Place the popcorn snack packet on the floor 4- Open the cardboard drawer 5- place the popcorn snack packet in the drawer 6- Close the cardboard drawer 7- Open the cardboard drawer 8- Place the yellow candy on the floor 9- Close the cardboard door 10- Pickup the yellow candy on the floor 11- Exit the room Q: next 5 steps? \u003cPRED\u003eA: 1- Place the yellow candy on the floor 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the yellow candy on the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7699823434505982480.mp4"}
+{"uid":"6196075492553756833","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the popcorn snack packet in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I got a wrong item can you put it back and get me a laffy taffy from Mk kitchen to my desk. last 20 steps: 1- Pickup the popcorn snack packect 2- Exit the room 3- Place the popcorn snack packet on the floor 4- Open the cardboard drawer Q: immediate next step? \u003cPRED\u003eA: place the popcorn snack packet in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the popcorn snack packet in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I got a wrong item can you put it back and get me a laffy taffy from Mk kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: place the popcorn snack packet in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the popcorn snack packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the popcorn snack packet in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I got a wrong item can you put it back and get me a laffy taffy from Mk kitchen to my desk. last 20 steps: 1- Pickup the popcorn snack packect 2- Exit the room 3- Place the popcorn snack packet on the floor 4- Open the cardboard drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place the popcorn snack packet in the drawer 2- Close the cardboard drawer 3- Open the cardboard drawer 4- Place the yellow candy on the floor 5- Close the cardboard door\n\u003c/PRED\u003e","video":"5402316804182178975.mp4"}
+{"uid":"44660604585975535","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput it on a table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6000456172286508927.mp4"}
+{"uid":"14912330536036691187","text":"\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 got a wrong item can you put it back and get me a laffy taffy from Mk kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I got a wrong item can you put it back and get me a laffy taffy from Mk kitchen to my desk. last 20 steps: 1- Pickup the popcorn snack packect Q: next 5 steps? \u003cPRED\u003eA: 1- Exit the room 2- Place the popcorn snack packet on the floor 3- Open the cardboard drawer 4- place the popcorn snack packet in the drawer 5- Close the cardboard drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I got a wrong item can you put it back and get me a laffy taffy from Mk kitchen to my desk. last 20 steps: 1- Pickup the popcorn snack packect Q: immediate next step? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nExit the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12642580329128923839.mp4"}
+{"uid":"6789198757204886791","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pickup the popcorn snack packect\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPickup the popcorn snack packect Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11472098287066908797.mp4"}
+{"uid":"7486308864192001367","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"10139280129462808215.mp4"}
+{"uid":"13526793446333190801","text":"\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":"17305334676381531677.mp4"}
+{"uid":"4566807359488695971","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":"5740763882224594623.mp4"}
+{"uid":"12140055047056649068","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: move the pens from the drawer to the pen holder Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the pens from the drawer to the pen holder. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- Put the pen in the holder 3- Put the pens in the holder 4- Put the pen in the holder 5- Put the pens in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the pens from the drawer to the pen holder. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e","video":"13886119618962431360.mp4"}
+{"uid":"17803204921509157744","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the pens from the drawer to the pen holder. last 20 steps: 1- open the drawer 2- Put the pen in the holder 3- Put the pens in the holder 4- Put the pen in the holder 5- Put the pens in the holder 6- Put the pen in the holder 7- Put the pen in the holder 8- Put the pens in the 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:affordance:discriminative:discrete:True\u003e\nPut the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move the pens from the drawer to the pen holder Q: immediate next step? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the pens from the drawer to the pen holder. last 20 steps: 1- open the drawer 2- Put the pen in the holder 3- Put the pens in the holder 4- Put the pen in the holder 5- Put the pens in the holder 6- Put the pen in the holder 7- Put the pen in the holder 8- Put the pens in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pen in the holder 2- Put the pen in the holder 3- Put the pen in the holder 4- close the drawer 5- done\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","video":"13704708317914987734.mp4"}
+{"uid":"3627729140028385082","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":"9729288147936517782.mp4"}
+{"uid":"5846784192371092938","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the pens from the drawer to the pen holder. last 20 steps: 1- open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pen in the holder 2- Put the pens in the holder 3- Put the pen in the holder 4- Put the pens in the holder 5- Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the pens from the drawer to the pen holder. last 20 steps: 1- open the drawer Q: immediate next step? \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:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move the pens from the drawer to the pen holder Q: immediate next step? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e","video":"3264490428395341778.mp4"}
+{"uid":"587616744277363682","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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the pens from the drawer to the pen holder. last 20 steps: 1- open the drawer 2- Put the pen in the holder Q: immediate next step? \u003cPRED\u003eA: 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:planning:freeform\u003e\ncurrent goal is: move the pens from the drawer to the pen holder 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: move the pens from the drawer to the pen holder. last 20 steps: 1- open the drawer 2- Put the pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pens in the holder 2- Put the pen in the holder 3- Put the pens in the holder 4- Put the pen in the holder 5- Put the pen in the holder\n\u003c/PRED\u003e","video":"18090777123455937994.mp4"}
+{"uid":"5248714438618512484","text":"\u003ctask:success:discrete:True\u003e\nplace the popcorn snack packet in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the popcorn snack packet in the drawer\n\u003c/PRED\u003e","video":"7238482088408361337.mp4"}
+{"uid":"5523339700180493731","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nClose the cardboard door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I got a wrong item can you put it back and get me a laffy taffy from Mk kitchen to my desk. last 20 steps: 1- Pickup the popcorn snack packect 2- Exit the room 3- Place the popcorn snack packet on the floor 4- Open the cardboard drawer 5- place the popcorn snack packet in the drawer 6- Close the cardboard drawer 7- Open the cardboard drawer 8- Place the yellow candy on the floor Q: next 5 steps? \u003cPRED\u003eA: 1- Close the cardboard door 2- Pickup the yellow candy on the floor 3- Exit the room 4- Place the yellow candy on the floor 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I got a wrong item can you put it back and get me a laffy taffy from Mk kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: Close the cardboard door\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Close the cardboard door\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I got a wrong item can you put it back and get me a laffy taffy from Mk kitchen to my desk. last 20 steps: 1- Pickup the popcorn snack packect 2- Exit the room 3- Place the popcorn snack packet on the floor 4- Open the cardboard drawer 5- place the popcorn snack packet in the drawer 6- Close the cardboard drawer 7- Open the cardboard drawer 8- Place the yellow candy on the floor Q: immediate next step? \u003cPRED\u003eA: Close the cardboard door\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nClose the cardboard door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Close the cardboard door\n\u003c/PRED\u003e","video":"5629460121825366752.mp4"}
+{"uid":"4893558274672342721","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":"1575604986376442505.mp4"}
+{"uid":"1116021432851993112","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the pens from the drawer to the pen holder. last 20 steps: 1- open the drawer 2- Put the pen in the holder 3- Put the pens in the holder 4- Put the pen in the holder 5- Put the pens in the holder 6- Put the pen in the holder 7- Put the pen in the holder 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: move the pens from the drawer to the pen holder. last 20 steps: 1- open the drawer 2- Put the pen in the holder 3- Put the pens in the holder 4- Put the pen in the holder 5- Put the pens in the holder 6- Put the pen in the holder 7- Put the pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pens in the holder 2- Put the pen in the holder 3- Put the pen in the holder 4- Put the pen in the holder 5- close the drawer\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\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: move the pens from the drawer to the pen 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","video":"10954015894680315523.mp4"}
+{"uid":"11015144457214211459","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove to the cap Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7849412612686886385.mp4"}
+{"uid":"9768026583188802525","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the pens from the drawer to the pen holder. last 20 steps: 1- open the drawer 2- Put the pen in the holder 3- Put the pens in the holder 4- Put the pen in the holder 5- Put the pens in the holder 6- Put the pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pen in the holder 2- Put the pens in the holder 3- Put the pen in the holder 4- Put the pen in the holder 5- Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move the pens from the drawer to the pen holder Q: immediate next step? \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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the pens from the drawer to the pen holder. last 20 steps: 1- open the drawer 2- Put the pen in the holder 3- Put the pens in the holder 4- Put the pen in the holder 5- Put the pens in the holder 6- Put the pen in the holder Q: immediate next step? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e","video":"7432348347152869785.mp4"}
+{"uid":"355863007106916121","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the popcorn snack packet on the floor\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the popcorn snack packet on the floor\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I got a wrong item can you put it back and get me a laffy taffy from Mk kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: Place the popcorn snack packet on the floor\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I got a wrong item can you put it back and get me a laffy taffy from Mk kitchen to my desk. last 20 steps: 1- Pickup the popcorn snack packect 2- Exit the room Q: immediate next step? \u003cPRED\u003eA: Place the popcorn snack packet on the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the popcorn snack packet on the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the popcorn snack packet on the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I got a wrong item can you put it back and get me a laffy taffy from Mk kitchen to my desk. last 20 steps: 1- Pickup the popcorn snack packect 2- Exit the room Q: next 5 steps? \u003cPRED\u003eA: 1- Place the popcorn snack packet on the floor 2- Open the cardboard drawer 3- place the popcorn snack packet in the drawer 4- Close the cardboard drawer 5- Open the cardboard drawer\n\u003c/PRED\u003e","video":"13019612908711563599.mp4"}
+{"uid":"4150407036830204439","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop candy into tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15460590613501673685.mp4"}
+{"uid":"10365618968086363566","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the candy 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":"16979480410668207476.mp4"}
+{"uid":"8080753915590429645","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\narrange the chair properly Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5169894792742287475.mp4"}
+{"uid":"9794797582116514322","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":"17519347508113397418.mp4"}
+{"uid":"11067930609069566624","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please palce the pipcorn into the drawer. last 20 steps: 1- place the apple in the dustbin 2- place the banana in the dustbin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the banana in the dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the banana in the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please palce the pipcorn into the drawer. last 20 steps: 1- place the apple in the dustbin 2- place the banana in the dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please palce the pipcorn into the drawer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"14588104731973085301.mp4"}
+{"uid":"16620220485187886912","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":"4367699849268342922.mp4"}
+{"uid":"2003996545831263750","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up 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":"15566916858204422547.mp4"}
+{"uid":"8914982492842226085","text":"\u003ctask:success:discrete:True\u003e\nPlace the yellow candy 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I got a wrong item can you put it back and get me a laffy taffy from Mk kitchen to my desk. last 20 steps: 1- Pickup the popcorn snack packect 2- Exit the room 3- Place the popcorn snack packet on the floor 4- Open the cardboard drawer 5- place the popcorn snack packet in the drawer 6- Close the cardboard drawer 7- Open the cardboard drawer 8- Place the yellow candy on the floor 9- Close the cardboard door 10- Pickup the yellow candy on the floor 11- Exit the room 12- Place the yellow candy on the floor Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I got a wrong item can you put it back and get me a laffy taffy from Mk kitchen to my desk. last 20 steps: 1- Pickup the popcorn snack packect 2- Exit the room 3- Place the popcorn snack packet on the floor 4- Open the cardboard drawer 5- place the popcorn snack packet in the drawer 6- Close the cardboard drawer 7- Open the cardboard drawer 8- Place the yellow candy on the floor 9- Close the cardboard door 10- Pickup the yellow candy on the floor 11- Exit the room 12- Place the yellow candy on the floor Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the yellow candy on the floor\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I got a wrong item can you put it back and get me a laffy taffy from Mk kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"16313867099511274771.mp4"}
+{"uid":"14146932200165723022","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nExit the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e\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 got a wrong item can you put it back and get me a laffy taffy from Mk kitchen to my desk. last 20 steps: 1- Pickup the popcorn snack packect 2- Exit the room 3- Place the popcorn snack packet on the floor 4- Open the cardboard drawer 5- place the popcorn snack packet in the drawer 6- Close the cardboard drawer 7- Open the cardboard drawer 8- Place the yellow candy on the floor 9- Close the cardboard door 10- Pickup the yellow candy on the floor Q: next 5 steps? \u003cPRED\u003eA: 1- Exit the room 2- Place the yellow candy on the floor 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I got a wrong item can you put it back and get me a laffy taffy from Mk kitchen to my desk. last 20 steps: 1- Pickup the popcorn snack packect 2- Exit the room 3- Place the popcorn snack packet on the floor 4- Open the cardboard drawer 5- place the popcorn snack packet in the drawer 6- Close the cardboard drawer 7- Open the cardboard drawer 8- Place the yellow candy on the floor 9- Close the cardboard door 10- Pickup the yellow candy on the floor Q: immediate next step? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nExit the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I got a wrong item can you put it back and get me a laffy taffy from Mk kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e","video":"3533647708386352220.mp4"}
+{"uid":"14251807125533107582","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":"16402060082587774956.mp4"}
+{"uid":"16204106380316147922","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Open the cardboard drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen the cardboard drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open the cardboard drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I got a wrong item can you put it back and get me a laffy taffy from Mk kitchen to my desk. last 20 steps: 1- Pickup the popcorn snack packect 2- Exit the room 3- Place the popcorn snack packet on the floor 4- Open the cardboard drawer 5- place the popcorn snack packet in the drawer 6- Close the cardboard drawer Q: immediate next step? \u003cPRED\u003eA: Open the cardboard drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I got a wrong item can you put it back and get me a laffy taffy from Mk kitchen to my desk. last 20 steps: 1- Pickup the popcorn snack packect 2- Exit the room 3- Place the popcorn snack packet on the floor 4- Open the cardboard drawer 5- place the popcorn snack packet in the drawer 6- Close the cardboard drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Open the cardboard drawer 2- Place the yellow candy on the floor 3- Close the cardboard door 4- Pickup the yellow candy on the floor 5- Exit the room\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I got a wrong item can you put it back and get me a laffy taffy from Mk kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: Open the cardboard drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nOpen the cardboard drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10839934188476821005.mp4"}
+{"uid":"18030201888395869518","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPush the apple in the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16689148964949389063.mp4"}
+{"uid":"14047164172766870496","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: I got a wrong item can you put it back and get me a laffy taffy from Mk kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: Close the cardboard drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nClose the cardboard drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I got a wrong item can you put it back and get me a laffy taffy from Mk kitchen to my desk. last 20 steps: 1- Pickup the popcorn snack packect 2- Exit the room 3- Place the popcorn snack packet on the floor 4- Open the cardboard drawer 5- place the popcorn snack packet in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Close the cardboard drawer 2- Open the cardboard drawer 3- Place the yellow candy on the floor 4- Close the cardboard door 5- Pickup the yellow candy on the floor\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Close the cardboard drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nClose the cardboard drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Close the cardboard drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I got a wrong item can you put it back and get me a laffy taffy from Mk kitchen to my desk. last 20 steps: 1- Pickup the popcorn snack packect 2- Exit the room 3- Place the popcorn snack packet on the floor 4- Open the cardboard drawer 5- place the popcorn snack packet in the drawer Q: immediate next step? \u003cPRED\u003eA: Close the cardboard drawer\n\u003c/PRED\u003e","video":"3381388322891239968.mp4"}
+{"uid":"13124256969162965181","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGrab 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":"3441002290226561076.mp4"}
+{"uid":"749245594619534546","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the cup into the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1327970997534659015.mp4"}
+{"uid":"3075517495924668948","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":"1143558689962397981.mp4"}
+{"uid":"1674135038686108205","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: I got a wrong item can you put it back and get me a laffy taffy from Mk kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: Open the cardboard drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen the cardboard drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Open the cardboard drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I got a wrong item can you put it back and get me a laffy taffy from Mk kitchen to my desk. last 20 steps: 1- Pickup the popcorn snack packect 2- Exit the room 3- Place the popcorn snack packet on the floor Q: immediate next step? \u003cPRED\u003eA: Open the cardboard drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I got a wrong item can you put it back and get me a laffy taffy from Mk kitchen to my desk. last 20 steps: 1- Pickup the popcorn snack packect 2- Exit the room 3- Place the popcorn snack packet on the floor Q: next 5 steps? \u003cPRED\u003eA: 1- Open the cardboard drawer 2- place the popcorn snack packet in the drawer 3- Close the cardboard drawer 4- Open the cardboard drawer 5- Place the yellow candy on the floor\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open the cardboard drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nOpen the cardboard drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9211440882843979485.mp4"}
+{"uid":"1235259746318594221","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nExit the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3915028916589724102.mp4"}
+{"uid":"18084540458771265524","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I got a wrong item can you put it back and get me a laffy taffy from Mk kitchen to my desk. last 20 steps: 1- Pickup the popcorn snack packect 2- Exit the room 3- Place the popcorn snack packet on the floor 4- Open the cardboard drawer 5- place the popcorn snack packet in the drawer 6- Close the cardboard drawer 7- Open the cardboard drawer 8- Place the yellow candy on the floor 9- Close the cardboard door Q: next 5 steps? \u003cPRED\u003eA: 1- Pickup the yellow candy on the floor 2- Exit the room 3- Place the yellow candy on the floor 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pickup the yellow candy on the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPickup the yellow candy on the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pickup the yellow candy on the floor\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I got a wrong item can you put it back and get me a laffy taffy from Mk kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: Pickup the yellow candy on the floor\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I got a wrong item can you put it back and get me a laffy taffy from Mk kitchen to my desk. last 20 steps: 1- Pickup the popcorn snack packect 2- Exit the room 3- Place the popcorn snack packet on the floor 4- Open the cardboard drawer 5- place the popcorn snack packet in the drawer 6- Close the cardboard drawer 7- Open the cardboard drawer 8- Place the yellow candy on the floor 9- Close the cardboard door Q: immediate next step? \u003cPRED\u003eA: Pickup the yellow candy on the floor\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPickup the yellow candy on the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16051660209065450898.mp4"}
+{"uid":"4007627484881931537","text":"\u003ctask:success:discrete:True\u003e\nPickup the yellow candy 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: Pickup the yellow candy on the floor\n\u003c/PRED\u003e","video":"12262955743027765374.mp4"}
+{"uid":"1634744616273207448","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please palce the pipcorn into the drawer. last 20 steps: 1- place the apple in the dustbin Q: immediate next step? \u003cPRED\u003eA: place the banana in the dustbin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please palce the pipcorn into the drawer Q: immediate next step? \u003cPRED\u003eA: place the banana in the dustbin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the banana in the dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the banana in the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please palce the pipcorn into the drawer. last 20 steps: 1- place the apple in the dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- place the banana in the dustbin 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the banana in the dustbin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the banana in the dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1864267613455062872.mp4"}
+{"uid":"3745692731260335209","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the pens from the drawer to the pen holder. last 20 steps: 1- open the drawer 2- Put the pen in the holder 3- Put the pens in the holder 4- Put the pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pens in the holder 2- Put the pen in the holder 3- Put the pen in the holder 4- Put the pens in the holder 5- 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 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the pens from the drawer to the pen holder. last 20 steps: 1- open the drawer 2- Put the pen in the holder 3- Put the pens in the holder 4- Put the pen 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: move the pens from the drawer to the pen holder 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pens in the holder\n\u003c/PRED\u003e","video":"16965679574759788.mp4"}
+{"uid":"17330072909705570339","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the wire in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14110324184443361660.mp4"}
+{"uid":"7888014101534439733","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":"11962045899289054831.mp4"}
+{"uid":"6758989493613763103","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the pens from the drawer to the pen holder. last 20 steps: 1- open the drawer 2- Put the pen in the holder 3- Put the pens in the holder 4- Put the pen in the holder 5- Put the pens in the holder 6- Put the pen in the holder 7- Put the pen in the holder 8- Put the pens in the holder 9- Put the pen in the holder 10- Put the pen in the holder 11- Put the pen in the holder Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move the pens from the drawer to the pen holder Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the pens from the drawer to the pen holder. last 20 steps: 1- open the drawer 2- Put the pen in the holder 3- Put the pens in the holder 4- Put the pen in the holder 5- Put the pens in the holder 6- Put the pen in the holder 7- Put the pen in the holder 8- Put the pens in the holder 9- Put the pen in the holder 10- Put the pen in the holder 11- Put the pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e","video":"5885331605023026252.mp4"}
+{"uid":"9572618413010633119","text":"\u003ctask:success:discrete:False\u003e\nPut the pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the pens from the drawer to the pen holder. last 20 steps: 1- open the drawer 2- Put the pen in the holder 3- Put the pens in the holder 4- Put the pen in the holder 5- Put the pens in the 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the pens from the drawer to the pen holder. last 20 steps: 1- open the drawer 2- Put the pen in the holder 3- Put the pens in the holder 4- Put the pen in the holder 5- Put the pens in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pen in the holder 2- Put the pen in the holder 3- Put the pens in the holder 4- Put the pen in the holder 5- Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move the pens from the drawer to the pen holder Q: immediate next step? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e","video":"8203910819106440946.mp4"}
+{"uid":"5885884522084646001","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the apple in the dustbin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please palce the pipcorn into the drawer. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the apple in the dustbin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please palce the pipcorn into the drawer Q: immediate next step? \u003cPRED\u003eA: place the apple in the dustbin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please palce the pipcorn into the drawer. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the apple in the dustbin 2- place the banana in the dustbin 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the apple in the dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the apple in the dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the apple in the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8736391011976394194.mp4"}
+{"uid":"4409110848120722626","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove to the cap on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"411262487393575838.mp4"}
+{"uid":"3948907252638104577","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove towards 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":"17767538052804049394.mp4"}
+{"uid":"7093357903740093384","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut  chip bag 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":"18433534889045948670.mp4"}
+{"uid":"15436458063984336042","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace chip bag 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":"1467375689573106143.mp4"}
+{"uid":"14908001401600097062","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":"4107873837062175771.mp4"}
+{"uid":"15750758168660910910","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up 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":"18156152680512550191.mp4"}
+{"uid":"10364046440285611920","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the apple in the dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the apple in the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4947922643768925596.mp4"}
+{"uid":"6601229195452390294","text":"\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\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e","video":"12708591202594478519.mp4"}
+{"uid":"4625232513948400323","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open 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: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the box 2- put the yellow wire in the box 3- put the marker in the box 4- place the sponge in the box 5- drop the 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: none Q: immediate next step? \u003cPRED\u003eA: open the box\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","video":"7120511882761658704.mp4"}
+{"uid":"16099518717762330941","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the marker in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace 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":"6438756705603314538.mp4"}
+{"uid":"674975067993796163","text":"\u003ctask:success:discrete:True\u003e\nPut the yellow colored wire bundle 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 yellow colored wire bundle in the box\n\u003c/PRED\u003e","video":"17558874700793926835.mp4"}
+{"uid":"3023747542651670549","text":"\u003ctask:success:discrete:True\u003e\nPut the small compact black colored 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 small compact black colored object in the box\n\u003c/PRED\u003e","video":"3612146083865614472.mp4"}
+{"uid":"2703207298581547374","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- put the yellow wire in the box 3- put the yellow wire in the box 4- put the marker in the box 5- place the sponge in the box 6- drop the black wire in the box Q: immediate next step? \u003cPRED\u003eA: Put the change over switch 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 change over switch 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 box 2- put the yellow wire in the box 3- put the yellow wire in the box 4- put the marker in the box 5- place the sponge in the box 6- drop the black wire in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the change over switch in the box 2- leave the black object in the box 3- drop the blackk box in the box 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the change over switch in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the change over switch in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the change over switch 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 change over switch 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":"11191152629515545763.mp4"}
+{"uid":"15769207815627214205","text":"\u003ctask:success:discrete:True\u003e\nPut the black colored 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: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: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- put the yellow wire in the box 3- put the yellow wire in the box 4- put the marker in the box 5- place the sponge in the box 6- drop the black wire in the box 7- put the regulator in the box 8- leave the black object in the box 9- Put the black colored object in the box 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 black colored 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 box 2- put the yellow wire in the box 3- put the yellow wire in the box 4- put the marker in the box 5- place the sponge in the box 6- drop the black wire in the box 7- put the regulator in the box 8- leave the black object in the box 9- Put the black colored object in the box Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"12016582642738880280.mp4"}
+{"uid":"13366207524147497281","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the bowl into the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the bowl into the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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\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- put the yellow wire in the box Q: immediate next step? \u003cPRED\u003eA: place 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 2- put the yellow wire in the box Q: next 5 steps? \u003cPRED\u003eA: 1- place the bowl into the box 2- place the sponge in the box 3- drop the black wire in the box 4- put the regulator in the box 5- leave the black object in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace 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: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: place the bowl into the box\n\u003c/PRED\u003e","video":"10475391570638799038.mp4"}
+{"uid":"11214532116663947","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nClose the almond egg 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":"2035147320381997206.mp4"}
+{"uid":"18433356522859050867","text":"\u003ctask:success:discrete:True\u003e\nPut the duster 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 duster in the box\n\u003c/PRED\u003e","video":"17741172050849909200.mp4"}
+{"uid":"9137183143026775380","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the 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":"4493056313277047670.mp4"}
+{"uid":"1469546513207335496","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput yellow packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17424164795383549454.mp4"}
+{"uid":"12489746180670411562","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the black wire in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the black wire 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":"13993741968288275443.mp4"}
+{"uid":"16692819714795896363","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sanitizer bottle 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":"8484176195335461582.mp4"}
+{"uid":"4468135753477767082","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the marker in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace 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":"16910502806070231322.mp4"}
+{"uid":"3920682052646382873","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Open the left leaf of the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nOpen the left leaf of 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: Open the left leaf of the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open the left leaf of 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 left leaf of 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: none Q: next 5 steps? \u003cPRED\u003eA: 1- Open the left leaf of the box 2- put the yellow wire in the box 3- put the yellow wire in the box 4- put the marker in the box 5- place the sponge in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen the left leaf of 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":"9640661072907753343.mp4"}
+{"uid":"13399883363020184375","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the Pistachio 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":"17755374074785684093.mp4"}
+{"uid":"1633902856627601321","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":"749448667288589199.mp4"}
+{"uid":"7711906734947286746","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","video":"1833639786970756704.mp4"}
+{"uid":"11755525650074107356","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput tea box on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4912821650950141929.mp4"}
+{"uid":"3646459148137207363","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 regulator in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put 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 box 2- put the yellow wire in the box 3- put the yellow wire in the box 4- put the marker in the box 5- place the sponge in the box 6- drop the black wire in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the regulator in the box 2- leave the black object in the box 3- drop the blackk box in the box 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the regulator 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 box 2- put the yellow wire in the box 3- put the yellow wire in the box 4- put the marker in the box 5- place the sponge in the box 6- drop the black wire in the box Q: immediate next step? \u003cPRED\u003eA: put the regulator in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput 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":"16574525694771469086.mp4"}
+{"uid":"14446632777861575124","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the bowl in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place 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: Place the bowl in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace 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: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- put the yellow wire in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Place the bowl in the box 2- place the sponge in the box 3- drop the black wire in the box 4- put the regulator in the box 5- leave 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 box 2- put the yellow wire in the box Q: immediate next step? \u003cPRED\u003eA: Place the bowl in the box\n\u003c/PRED\u003e","video":"14750766890156026447.mp4"}
+{"uid":"16344899328368127913","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the candy in a tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11978982253067723063.mp4"}
+{"uid":"13070715067459161982","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- put the yellow wire in the box 3- put the yellow wire in the box 4- put the marker in the box Q: next 5 steps? \u003cPRED\u003eA: 1- place the sponge in the box 2- put the regulator in the box 3- leave the black object in the box 4- drop the blackk box 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 box 2- put the yellow wire in the box 3- put the yellow wire in the box 4- put the marker in the box Q: immediate next step? \u003cPRED\u003eA: place the sponge in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the sponge 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: place the sponge in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the sponge in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace 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:affordance:discriminative:discrete:True\u003e\nplace 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","video":"10102800024976469965.mp4"}
+{"uid":"12847085448983304273","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the regulator in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput 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":"11294679350545407343.mp4"}
+{"uid":"12556675229087085088","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nKeep the pouches straight 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":"8259802759578094498.mp4"}
+{"uid":"5237012112834019209","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the plastic 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":"15337520177575198052.mp4"}
+{"uid":"664698635820105081","text":"\u003ctask:success:discrete:True\u003e\nput the yellow wire 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 yellow wire in the box\n\u003c/PRED\u003e","video":"970888494431566299.mp4"}
+{"uid":"11594388886827159056","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 colored wire bundle 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 box 2- put the yellow wire in the box 3- put the yellow wire in the box 4- put the marker in the box 5- place the sponge in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the black colored wire bundle in the box 2- leave the black object in the box 3- drop the blackk box 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 black colored wire bundle in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the black colored wire bundle 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 black colored wire bundle 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 box 2- put the yellow wire in the box 3- put the yellow wire in the box 4- put the marker in the box 5- place the sponge in the box Q: immediate next step? \u003cPRED\u003eA: Put the black colored wire bundle in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the black colored wire bundle 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":"18083314187083334037.mp4"}
+{"uid":"11835228425711310727","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":"16450673210564119042.mp4"}
+{"uid":"1425758286352417640","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the black colored wire bundle in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the black colored wire bundle 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":"2096676152437508952.mp4"}
+{"uid":"13555097670462017611","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the holder in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the holder in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the holder in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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: place the holder in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the holder 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 box 2- put the yellow wire in the box 3- put the yellow wire in the box 4- put the marker in the box 5- place the sponge in the box 6- drop the black wire in the box 7- put the regulator in the box 8- leave the black object in the box Q: immediate next step? \u003cPRED\u003eA: place the holder 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 box 2- put the yellow wire in the box 3- put the yellow wire in the box 4- put the marker in the box 5- place the sponge in the box 6- drop the black wire in the box 7- put the regulator in the box 8- leave the black object in the box Q: next 5 steps? \u003cPRED\u003eA: 1- place the holder in the box 2- done\n\u003c/PRED\u003e","video":"7692909737921784740.mp4"}
+{"uid":"2747317419812807495","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- put the yellow wire in the box 3- put the yellow wire in the box 4- put the marker in the box 5- place the sponge in the box 6- drop the black wire in the box Q: next 5 steps? \u003cPRED\u003eA: 1- place the regulator in the box 2- drop the blackk box in the box 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace 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\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the regulator in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the regulator 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 box 2- put the yellow wire in the box 3- put the yellow wire in the box 4- put the marker in the box 5- place the sponge in the box 6- drop the black wire in the box Q: immediate next step? \u003cPRED\u003eA: place the regulator in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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: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: place the regulator in the box\n\u003c/PRED\u003e","video":"14607054536177829208.mp4"}
+{"uid":"14320840109819335029","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":"18143429755141140145.mp4"}
+{"uid":"12930714286521661538","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the bowl in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace 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":"8675305811754062329.mp4"}
+{"uid":"2477786250770958583","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the orange wire in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the orange wire 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":"7864483216251487697.mp4"}
+{"uid":"14186831722931578376","text":"\u003ctask:success:discrete:True\u003e\nOpen the left leaf of 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: Open the left leaf of the box\n\u003c/PRED\u003e","video":"4385105216008653902.mp4"}
+{"uid":"8045254410370818801","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":"1382182108357292541.mp4"}
+{"uid":"13761527448888081440","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":"12563446630971159.mp4"}
+{"uid":"16813148483686671859","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- put the yellow wire in the box 3- put the yellow wire in the box 4- put the marker in the box 5- place the sponge in the box 6- drop the black wire in the box 7- put the regulator in the box 8- leave the black object in the box Q: immediate next step? \u003cPRED\u003eA: drop the blackk box in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the blackk box 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: drop the blackk box in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the blackk box in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the blackk box 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 blackk box 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 box 2- put the yellow wire in the box 3- put the yellow wire in the box 4- put the marker in the box 5- place the sponge in the box 6- drop the black wire in the box 7- put the regulator in the box 8- leave the black object in the box Q: next 5 steps? \u003cPRED\u003eA: 1- drop the blackk box in the box 2- done\n\u003c/PRED\u003e","video":"7901515032003789415.mp4"}
+{"uid":"16278186082457282117","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- put the yellow wire in the box 3- put the yellow wire in the box 4- put the marker in the box Q: next 5 steps? \u003cPRED\u003eA: 1- drop the black wire in the box 2- put the regulator in the box 3- leave the black object in the box 4- drop the blackk box in the box 5- 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 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: drop the black wire in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop 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:success:discrete:False\u003e\ndrop 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\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the 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 box 2- put the yellow wire in the box 3- put the yellow wire in the box 4- put the marker in the box Q: immediate next step? \u003cPRED\u003eA: drop the black wire in the box\n\u003c/PRED\u003e","video":"279178205651446064.mp4"}
+{"uid":"4199841910726929428","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: leave the black object in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: leave the black object in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nleave 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:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: leave 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 box 2- put the yellow wire in the box 3- put the yellow wire in the box 4- put the marker in the box 5- place the sponge in the box 6- drop the black wire in the box 7- put the regulator in the box Q: next 5 steps? \u003cPRED\u003eA: 1- leave the black object in the box 2- drop the blackk box in the box 3- 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- put the yellow wire in the box 3- put the yellow wire in the box 4- put the marker in the box 5- place the sponge in the box 6- drop the black wire in the box 7- put the regulator in the box Q: immediate next step? \u003cPRED\u003eA: leave the black object in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nleave 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","video":"4244780915579392578.mp4"}
+{"uid":"3585062068359534047","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 Q: next 5 steps? \u003cPRED\u003eA: 1- place the orange wire in the box 2- put the yellow wire in the box 3- put the marker in the box 4- place the sponge in the box 5- drop 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: place the orange wire in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the orange 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: place the orange wire in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the orange 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the orange 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 box Q: immediate next step? \u003cPRED\u003eA: place the orange wire in the box\n\u003c/PRED\u003e","video":"15384828576269036317.mp4"}
+{"uid":"16197278434009218100","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place 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 box 2- put the yellow wire in the box 3- put the yellow wire in the box 4- put the marker in the box 5- place the sponge in the box Q: next 5 steps? \u003cPRED\u003eA: 1- place the wire in the box 2- leave the black object in the box 3- drop the blackk box in the 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: place 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 box 2- put the yellow wire in the box 3- put the yellow wire in the box 4- put the marker in the box 5- place the sponge in the box Q: immediate next step? \u003cPRED\u003eA: place the wire in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the wire in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace 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\nplace 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","video":"16903343869994469131.mp4"}
+{"uid":"13757671209174303280","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace brown white packet in 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":"13237711138650513700.mp4"}
+{"uid":"3098678885067432119","text":"\u003ctask:success:discrete:False\u003e\nPut the duster 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 duster in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the duster 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 box 2- put the yellow wire in the box 3- put the yellow wire in the box 4- put the marker in the box Q: immediate next step? \u003cPRED\u003eA: Put the duster 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 duster 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 box 2- put the yellow wire in the box 3- put the yellow wire in the box 4- put the marker in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the duster in the box 2- put the regulator in the box 3- leave the black object in the box 4- drop the blackk box in the box 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the duster in the box\n\u003c/PRED\u003e","video":"17735440863272316341.mp4"}
+{"uid":"11010735881623070922","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the knob into the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4260149546384878986.mp4"}
+{"uid":"4420842242898130904","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the chip packet 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":"6492726216656595272.mp4"}
+{"uid":"3616106892722540619","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: leave the black object in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nleave 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","video":"5213908100540739423.mp4"}
+{"uid":"5429320597270845474","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput sticky note 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":"14221758838547294965.mp4"}
+{"uid":"9420202208123408783","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the punching machine 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: place the punching machine 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 box 2- put the yellow wire in the box 3- put the yellow wire in the box 4- put the marker in the box 5- place the sponge in the box 6- drop the black wire in the box 7- put the regulator in the box Q: next 5 steps? \u003cPRED\u003eA: 1- place the punching machine in the box 2- drop the blackk box in the box 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the punching machine in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the punching machine 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 box 2- put the yellow wire in the box 3- put the yellow wire in the box 4- put the marker in the box 5- place the sponge in the box 6- drop the black wire in the box 7- put the regulator in the box Q: immediate next step? \u003cPRED\u003eA: place the punching machine in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the punching machine 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":"11219973906045759993.mp4"}
+{"uid":"14748733518741664406","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the gripper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the gripper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the gripper\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: close the gripper\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- close the gripper 2- put the yellow wire in the box 3- put the marker in the box 4- place the sponge in the box 5- drop 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: close the gripper\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: close the gripper\n\u003c/PRED\u003e","video":"6878361467482171872.mp4"}
+{"uid":"4237659810262866027","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 colored 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 box 2- put the yellow wire in the box 3- put the yellow wire in the box 4- put the marker in the box 5- place the sponge in the box 6- drop the black wire in the box 7- put the regulator in the box 8- leave the black object in the box Q: immediate next step? \u003cPRED\u003eA: Put the black colored 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 colored 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 box 2- put the yellow wire in the box 3- put the yellow wire in the box 4- put the marker in the box 5- place the sponge in the box 6- drop the black wire in the box 7- put the regulator in the box 8- leave the black object in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the black colored object in the box 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the black colored 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:success:discrete:False\u003e\nPut the black colored 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:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the black colored object in the box\n\u003c/PRED\u003e","video":"225469225864203463.mp4"}
+{"uid":"15785378897006854207","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the change over switch in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the change over switch 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":"8758730923844782017.mp4"}
+{"uid":"5273115041117802338","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":"2442742445983479129.mp4"}
+{"uid":"7293980310851727853","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: none Q: immediate next step? \u003cPRED\u003eA: Open the right leaf of the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Open the right leaf of the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen the right leaf of 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: Open the right leaf of the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nOpen the right leaf of 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: Open the right leaf of 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: none Q: next 5 steps? \u003cPRED\u003eA: 1- Open the right leaf of the box 2- put the yellow wire in the box 3- put the yellow wire in the box 4- put the marker in the box 5- place the sponge in the box\n\u003c/PRED\u003e","video":"970039197827359323.mp4"}
+{"uid":"17660379809457893575","text":"\u003ctask:success:discrete:True\u003e\nplace 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\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the regulator in the box\n\u003c/PRED\u003e","video":"12481650377656622362.mp4"}
+{"uid":"16342783857090689298","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":"3160054526455408867.mp4"}
+{"uid":"11823924482667116668","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the yellow colored wire bundle 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 yellow colored wire bundle in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the yellow colored wire bundle 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 yellow colored wire bundle in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the yellow colored wire bundle 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 box Q: immediate next step? \u003cPRED\u003eA: Put the yellow colored wire bundle 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 box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the yellow colored wire bundle in the box 2- put the yellow wire in the box 3- put the marker in the box 4- place the sponge in the box 5- drop the black wire in the box\n\u003c/PRED\u003e","video":"10684351829342533015.mp4"}
+{"uid":"5366982807790393665","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: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: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- put the yellow wire in the box 3- put the yellow wire in the box 4- put the marker in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the sponge in the box 2- drop the black wire in the box 3- put the regulator in the box 4- leave the black object in the box 5- drop the blackk box 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \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 box 2- put the yellow wire in the box 3- put the yellow wire in the box 4- put the marker in the box Q: immediate next step? \u003cPRED\u003eA: put the sponge in the box\n\u003c/PRED\u003e","video":"23128118770889751.mp4"}
+{"uid":"10173431121819976130","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace paper 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":"13403789776607790887.mp4"}
+{"uid":"15434560428609036327","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the red packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15654342322058032971.mp4"}
+{"uid":"3548182296064547852","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the yellow wire in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the yellow wire 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":"7186109688024492573.mp4"}
+{"uid":"14186701437775341367","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":"11738872028233452304.mp4"}
+{"uid":"11775606419675092870","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- put the yellow wire in the box 3- put the yellow wire in the box Q: immediate next step? \u003cPRED\u003eA: Place 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 box 2- put the yellow wire in the box 3- put the yellow wire in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Place the marker in the box 2- place the sponge in the box 3- drop the black wire in the box 4- put the regulator in the box 5- leave the black object 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: Place the marker in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the marker in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace 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: Place the marker in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace 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","video":"7425858962172823185.mp4"}
+{"uid":"14000738157293825290","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop pistachios in cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"571643668502208970.mp4"}
+{"uid":"8243352316330078918","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the chocolate on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12952548122282309031.mp4"}
+{"uid":"10930309729836501945","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the marker in the glass tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16561539907291489288.mp4"}
+{"uid":"16523100287111461692","text":"\u003ctask:success:discrete:True\u003e\nplace 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\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the bowl into the box\n\u003c/PRED\u003e","video":"11087910207279788535.mp4"}
+{"uid":"11537767856536447280","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 small compact black colored 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 small compact black colored 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 box 2- put the yellow wire in the box 3- put the yellow wire in the box 4- put the marker in the box 5- place the sponge in the box 6- drop the black wire in the box 7- put the regulator in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the small compact black colored object in the box 2- drop the blackk box in the box 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the small compact black colored object in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the small compact black colored 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 small compact black colored 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 box 2- put the yellow wire in the box 3- put the yellow wire in the box 4- put the marker in the box 5- place the sponge in the box 6- drop the black wire in the box 7- put the regulator in the box Q: immediate next step? \u003cPRED\u003eA: Put the small compact black colored object in the box\n\u003c/PRED\u003e","video":"9770532590823936881.mp4"}
+{"uid":"15953734382328604248","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick the blue chocolate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11784163149924492814.mp4"}
+{"uid":"13369921196532738411","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the wire in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the wire 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":"8967745423961500899.mp4"}
+{"uid":"7529243252624599451","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":"9002579170879172016.mp4"}
+{"uid":"3490553207264414508","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the marker in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the marker in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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: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: place 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 box 2- put the yellow wire in the box 3- put the yellow wire in the box Q: immediate next step? \u003cPRED\u003eA: place 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 box 2- put the yellow wire in the box 3- put the yellow wire in the box Q: next 5 steps? \u003cPRED\u003eA: 1- place the marker in the box 2- place the sponge in the box 3- drop the black wire in the box 4- put the regulator in the box 5- leave the black object in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace 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","video":"11383670380866489786.mp4"}
+{"uid":"3352582871002058815","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":"13959999130888081212.mp4"}
+{"uid":"17493505699123852416","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the blackk box 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: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the blackk box 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: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- put the yellow wire in the box 3- put the yellow wire in the box 4- put the marker in the box 5- place the sponge in the box 6- drop the black wire in the box 7- put the regulator in the box 8- leave the black object in the box 9- drop the blackk box in the box Q: immediate next step? \u003cPRED\u003eA: done\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- put the yellow wire in the box 3- put the yellow wire in the box 4- put the marker in the box 5- place the sponge in the box 6- drop the black wire in the box 7- put the regulator in the box 8- leave the black object in the box 9- drop the blackk box in the box Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"621292741143441221.mp4"}
+{"uid":"15540439662809208808","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the sponge in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace 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":"14556562887263008157.mp4"}
+{"uid":"2429965249008086150","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: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- put the yellow wire in the box 3- put the yellow wire in the box 4- put the marker in the box 5- place the sponge in the box 6- drop the black wire in the box 7- put the regulator in the box 8- leave the black object in the box 9- place the holder in the box Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the holder in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the holder in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- put the yellow wire in the box 3- put the yellow wire in the box 4- put the marker in the box 5- place the sponge in the box 6- drop the black wire in the box 7- put the regulator in the box 8- leave the black object in the box 9- place the holder in the box Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"4081987247951922637.mp4"}
+{"uid":"6135822900448599091","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":"16099483529846979343.mp4"}
+{"uid":"3263522098918087684","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npush the tray table into the 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":"16632392053724709478.mp4"}
+{"uid":"2981242337654415152","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 Q: immediate next step? \u003cPRED\u003eA: put the yellow wire in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the yellow 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: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 wire in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the yellow 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 yellow wire in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the yellow 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: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 the yellow wire in the box 2- put the yellow wire in the box 3- put the marker in the box 4- place the sponge in the box 5- drop the black wire in the box\n\u003c/PRED\u003e","video":"8531022511044339657.mp4"}
+{"uid":"17007240362287956346","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the punching machine in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the punching machine 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":"6828495028297577425.mp4"}
+{"uid":"8056661161174723540","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- put the yellow wire in the box Q: immediate next step? \u003cPRED\u003eA: put the marker in the 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 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- put the yellow wire in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the marker in the box 2- place the sponge in the box 3- drop the black wire in the box 4- put the regulator in the box 5- leave 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 marker in the box\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\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: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","video":"12146355190923802775.mp4"}
+{"uid":"13526455145464407678","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- put the yellow wire in the box Q: immediate next step? \u003cPRED\u003eA: put the yellow 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 yellow 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 yellow wire in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the yellow 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 box 2- put the yellow wire in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the yellow wire in the box 2- place the sponge in the box 3- drop the black wire in the box 4- put the regulator in the box 5- leave the black object in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the yellow 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":"9356117705755763981.mp4"}
+{"uid":"4613134412760126197","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the cups Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6911674205808258789.mp4"}
+{"uid":"11311737751903582529","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put candies in the paper bag\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput candies in the paper bag Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15382069414762846257.mp4"}
+{"uid":"17476449002853575023","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nexit the room with paper bag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you bring me some gum on a paper from MK kitchen and bring it to my desk. last 20 steps: 1- put paper bag on the table 2- open the jar cap 3- pick up the shovel 4- put candies in the paper bag 5- put shovel in the stand 6- close the jar with lid 7- pick up the paper bag Q: immediate next step? \u003cPRED\u003eA: exit the room with paper bag\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you bring me some gum on a paper from MK kitchen and bring it to my desk. last 20 steps: 1- put paper bag on the table 2- open the jar cap 3- pick up the shovel 4- put candies in the paper bag 5- put shovel in the stand 6- close the jar with lid 7- pick up the paper bag Q: next 5 steps? \u003cPRED\u003eA: 1- exit the room with paper bag 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nexit the room with paper bag Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you bring me some gum on a paper from MK kitchen and bring it to my desk Q: immediate next step? \u003cPRED\u003eA: exit the room with paper bag\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: exit the room with paper bag\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: exit the room with paper bag\n\u003c/PRED\u003e","video":"13232680944539582738.mp4"}
+{"uid":"5136374312796314226","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":"1240211464276204160.mp4"}
+{"uid":"694879745174628832","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: can you bring me some gum on a paper from MK kitchen and bring it to my desk Q: immediate next step? \u003cPRED\u003eA: open the jar cap\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you bring me some gum on a paper from MK kitchen and bring it to my desk. last 20 steps: 1- put paper bag on the table Q: next 5 steps? \u003cPRED\u003eA: 1- open the jar cap 2- pick up the shovel 3- put candies in the paper bag 4- put shovel in the stand 5- close the jar with lid\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the jar cap\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the jar cap Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\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 jar cap Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you bring me some gum on a paper from MK kitchen and bring it to my desk. last 20 steps: 1- put paper bag on the table Q: immediate next step? \u003cPRED\u003eA: open the jar cap\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the jar cap\n\u003c/PRED\u003e","video":"1392566912330215358.mp4"}
+{"uid":"18331543972847712227","text":"\u003ctask:success:discrete:True\u003e\nput paper bag on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put paper bag on the table\n\u003c/PRED\u003e","video":"4678613273556439292.mp4"}
+{"uid":"9762345601576721766","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the chocolate put it in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"611449888440303203.mp4"}
+{"uid":"3314739618946551381","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the glass on the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1933767216523706986.mp4"}
+{"uid":"9812309565689063190","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nOpen the lid of 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":"10405796732563552877.mp4"}
+{"uid":"10632445379452168733","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you bring me some gum on a paper from MK kitchen and bring it to my desk. last 20 steps: 1- put paper bag on the table 2- open the jar cap 3- pick up the shovel 4- put candies in the paper bag 5- put shovel in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- close the jar with lid 2- pick up the paper bag 3- exit the room with paper bag 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the jar with lid\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you bring me some gum on a paper from MK kitchen and bring it to my desk. last 20 steps: 1- put paper bag on the table 2- open the jar cap 3- pick up the shovel 4- put candies in the paper bag 5- put shovel in the stand Q: immediate next step? \u003cPRED\u003eA: close the jar with lid\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you bring me some gum on a paper from MK kitchen and bring it to my desk Q: immediate next step? \u003cPRED\u003eA: close the jar with lid\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the jar with lid Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the jar with lid Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the jar with lid\n\u003c/PRED\u003e","video":"15287732825387498547.mp4"}
+{"uid":"14658871311772368240","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you bring me some gum on a paper from MK kitchen and bring it to my desk. last 20 steps: 1- put paper bag on the table 2- open the jar cap 3- pick up the shovel 4- put candies in the paper bag Q: next 5 steps? \u003cPRED\u003eA: 1- put shovel in the stand 2- close the jar with lid 3- pick up the paper bag 4- exit the room with paper bag 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put shovel in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put shovel in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you bring me some gum on a paper from MK kitchen and bring it to my desk. last 20 steps: 1- put paper bag on the table 2- open the jar cap 3- pick up the shovel 4- put candies in the paper bag Q: immediate next step? \u003cPRED\u003eA: put shovel in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput shovel in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you bring me some gum on a paper from MK kitchen and bring it to my desk Q: immediate next step? \u003cPRED\u003eA: put shovel in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput shovel in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7382968350655218390.mp4"}
+{"uid":"7446245115717863578","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you bring me some gum on a paper from MK kitchen and bring it to my desk. last 20 steps: 1- put paper bag on the table 2- open the jar cap 3- pick up the shovel 4- put candies in the paper bag 5- put shovel in the stand 6- close the jar with lid 7- pick up the paper bag 8- exit the room with paper bag Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: exit the room with paper bag\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you bring me some gum on a paper from MK kitchen and bring it to my desk Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nexit the room with paper bag Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you bring me some gum on a paper from MK kitchen and bring it to my desk. last 20 steps: 1- put paper bag on the table 2- open the jar cap 3- pick up the shovel 4- put candies in the paper bag 5- put shovel in the stand 6- close the jar with lid 7- pick up the paper bag 8- exit the room with paper bag Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"15460537607555135404.mp4"}
+{"uid":"1467245488388476901","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the 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":"5874719925984099736.mp4"}
+{"uid":"11255109960902326943","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you bring me some gum on a paper from MK kitchen and bring it to my desk. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put paper bag on the table 2- open the jar cap 3- pick up the shovel 4- put candies in the paper bag 5- put shovel in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you bring me some gum on a paper from MK kitchen and bring it to my desk Q: immediate next step? \u003cPRED\u003eA: put paper bag on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput paper bag on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you bring me some gum on a paper from MK kitchen and bring it to my desk. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put paper bag on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put paper bag on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput paper bag on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put paper bag on the table\n\u003c/PRED\u003e","video":"17195310529516847441.mp4"}
+{"uid":"14121802560190810183","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you bring me some gum on a paper from MK kitchen and bring it to my desk. last 20 steps: 1- put paper bag on the table 2- open the jar cap Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the shovel 2- put candies in the paper bag 3- put shovel in the stand 4- close the jar with lid 5- pick up the paper bag\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the shovel\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the shovel Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you bring me some gum on a paper from MK kitchen and bring it to my desk Q: immediate next step? \u003cPRED\u003eA: pick up the shovel\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you bring me some gum on a paper from MK kitchen and bring it to my desk. last 20 steps: 1- put paper bag on the table 2- open the jar cap Q: immediate next step? \u003cPRED\u003eA: pick up the shovel\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the shovel Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 shovel\n\u003c/PRED\u003e","video":"4530720024796622367.mp4"}
+{"uid":"17949683917185629772","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you bring me some gum on a paper from MK kitchen and bring it to my desk. last 20 steps: 1- put paper bag on the table 2- open the jar cap 3- pick up the shovel 4- put candies in the paper bag 5- put shovel in the stand 6- close the jar with lid Q: immediate next step? \u003cPRED\u003eA: pick up the paper bag\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the paper bag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the paper bag Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the paper bag\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you bring me some gum on a paper from MK kitchen and bring it to my desk Q: immediate next step? \u003cPRED\u003eA: pick up the paper bag\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you bring me some gum on a paper from MK kitchen and bring it to my desk. last 20 steps: 1- put paper bag on the table 2- open the jar cap 3- pick up the shovel 4- put candies in the paper bag 5- put shovel in the stand 6- close the jar with lid Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the paper bag 2- exit the room with paper bag 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the paper bag\n\u003c/PRED\u003e","video":"8281653083062251548.mp4"}
+{"uid":"1910574910151443284","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the salt 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":"17152954820126896522.mp4"}
+{"uid":"15201443665339419663","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":"1435751874193249397.mp4"}
+{"uid":"3589055106861934675","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the spoon in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2836378360139567125.mp4"}
+{"uid":"16234954790081357223","text":"\u003ctask:success:discrete:False\u003e\nput candies in the paper bag Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you bring me some gum on a paper from MK kitchen and bring it to my desk Q: immediate next step? \u003cPRED\u003eA: put candies in the paper bag\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you bring me some gum on a paper from MK kitchen and bring it to my desk. last 20 steps: 1- put paper bag on the table 2- open the jar cap 3- pick up the shovel Q: next 5 steps? \u003cPRED\u003eA: 1- put candies in the paper bag 2- put shovel in the stand 3- close the jar with lid 4- pick up the paper bag 5- exit the room with paper bag\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you bring me some gum on a paper from MK kitchen and bring it to my desk. last 20 steps: 1- put paper bag on the table 2- open the jar cap 3- pick up the shovel Q: immediate next step? \u003cPRED\u003eA: put candies in the paper bag\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput candies in the paper bag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put candies in the paper bag\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put candies in the paper bag\n\u003c/PRED\u003e","video":"3105187159692520590.mp4"}
+{"uid":"7888640317143138719","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput snacks 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 2 bags of barbeque chips on Gavin's table. . last 20 steps: 1- put bowl on the table 2- put lid of the jar on the table 3- pick up a cereal scoop 4- put snacks in the bowl 5- put snacks in the bowl 6- put snacks in the bowl 7- put snacks in the bowl Q: immediate next step? \u003cPRED\u003eA: put snacks in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put snacks in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place 2 bags of barbeque chips on Gavin's table. . last 20 steps: 1- put bowl on the table 2- put lid of the jar on the table 3- pick up a cereal scoop 4- put snacks in the bowl 5- put snacks in the bowl 6- put snacks in the bowl 7- put snacks in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put snacks in the bowl 2- put snacks in the bowl 3- put snacks in the bowl 4- put cereal scoop in the holder 5- cover the jar with lid\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place 2 bags of barbeque chips on Gavin's table. Q: immediate next step? \u003cPRED\u003eA: put snacks in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put snacks in the bowl\n\u003c/PRED\u003e","video":"7679076889291737537.mp4"}
+{"uid":"5371808360758751632","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Fill the basket with books. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Fill the basket with books. last 20 steps: 1- Put the book in the basket 2- put the book in the basket 3- Put the book in the basket 4- put the book in the basket 5- Put the book in the basket Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the book in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Fill the basket with books. last 20 steps: 1- Put the book in the basket 2- put the book in the basket 3- Put the book in the basket 4- put the book in the basket 5- Put the book in the basket 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 book in the basket\n\u003c/PRED\u003e","video":"17307175468970497841.mp4"}
+{"uid":"11746117289329652049","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ngo closer to the left indoor plant. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11220429058984348972.mp4"}
+{"uid":"4846299505546265533","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place 2 bags of barbeque chips on Gavin's table. . last 20 steps: 1- put bowl on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put lid of the jar on the table 2- pick up a cereal scoop 3- put snacks in the bowl 4- put snacks in the bowl 5- put snacks in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place 2 bags of barbeque chips on Gavin's table. . last 20 steps: 1- put bowl on the table Q: immediate next step? \u003cPRED\u003eA: put lid of the jar on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put lid of the jar on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put lid of the jar on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place 2 bags of barbeque chips on Gavin's table. Q: immediate next step? \u003cPRED\u003eA: put lid of the jar on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput lid of the jar on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput lid of the jar on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17475245708158755059.mp4"}
+{"uid":"1525437102585468796","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack a glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10834830878081582448.mp4"}
+{"uid":"3518654425522857447","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Fill the basket with books. last 20 steps: 1- Put the book in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- put the book in the basket 2- Put the book in the basket 3- put the book in the basket 4- Put the book in the basket 5- adjust the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Fill the basket with books. Q: immediate next step? \u003cPRED\u003eA: put the book in the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the book in the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Fill the basket with books. last 20 steps: 1- Put the book in the basket Q: immediate next step? \u003cPRED\u003eA: put the book in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the book in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the book in the basket\n\u003c/PRED\u003e","video":"14510440183810323611.mp4"}
+{"uid":"569311109317642691","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the tissue paper on a table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2383622646698138904.mp4"}
+{"uid":"3264086685440138895","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the 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":"15449386592344851669.mp4"}
+{"uid":"9670779020034927550","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop sugar candy in a 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":"4429571549932126030.mp4"}
+{"uid":"10272234889210141544","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the tea box 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":"12181273672081813385.mp4"}
+{"uid":"12357455574775299992","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the book in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the book in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Fill the basket with books. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the book in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the book in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Fill the basket with books. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the book in the basket 2- put the book in the basket 3- Put the book in the basket 4- put the book in the basket 5- Put the book in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the book in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Fill the basket with books. Q: immediate next step? \u003cPRED\u003eA: Put the book in the basket\n\u003c/PRED\u003e","video":"12384457869497014256.mp4"}
+{"uid":"5228611222795476387","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Fill the basket with books. last 20 steps: 1- Put the book in the basket 2- put the book in the basket 3- Put the book in the basket 4- put the book in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- Place the basket inside 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the basket inside Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the basket inside\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the basket inside\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Fill the basket with books. Q: immediate next step? \u003cPRED\u003eA: Place the basket inside\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the basket inside Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Fill the basket with books. last 20 steps: 1- Put the book in the basket 2- put the book in the basket 3- Put the book in the basket 4- put the book in the basket Q: immediate next step? \u003cPRED\u003eA: Place the basket inside\n\u003c/PRED\u003e","video":"131760595392424218.mp4"}
+{"uid":"7382666742949091243","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop pen 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":"791763289424655260.mp4"}
+{"uid":"9595946307525490712","text":"\u003ctask:success:discrete:True\u003e\nPut the book in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the book in the basket\n\u003c/PRED\u003e","video":"18224987481033688488.mp4"}
+{"uid":"16996424875797145834","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop yellow marker in a pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14928990043685173611.mp4"}
+{"uid":"15553919709687868844","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the book in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the book in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16352633786651781664.mp4"}
+{"uid":"13498036693272261545","text":"\u003ctask:success:discrete:False\u003e\ncover the jar with lid Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: cover the jar with lid\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place 2 bags of barbeque chips on Gavin's table. . last 20 steps: 1- put bowl on the table 2- put lid of the jar on the table 3- pick up a cereal scoop 4- put snacks in the bowl 5- put snacks in the bowl 6- put snacks in the bowl 7- put snacks in the bowl 8- put snacks in the bowl 9- put snacks in the bowl 10- put snacks in the bowl 11- put cereal scoop in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- cover the jar with lid 2- pick up the bowl 3- put bowl on the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: cover the jar with lid\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place 2 bags of barbeque chips on Gavin's table. . last 20 steps: 1- put bowl on the table 2- put lid of the jar on the table 3- pick up a cereal scoop 4- put snacks in the bowl 5- put snacks in the bowl 6- put snacks in the bowl 7- put snacks in the bowl 8- put snacks in the bowl 9- put snacks in the bowl 10- put snacks in the bowl 11- put cereal scoop in the holder Q: immediate next step? \u003cPRED\u003eA: cover the jar with lid\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ncover the jar with lid Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place 2 bags of barbeque chips on Gavin's table. Q: immediate next step? \u003cPRED\u003eA: cover the jar with lid\n\u003c/PRED\u003e","video":"3780946759657558298.mp4"}
+{"uid":"15531815066037154959","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Fill the basket with books. Q: immediate next step? \u003cPRED\u003eA: put the book in the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the book in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the book in the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the book in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Fill the basket with books. last 20 steps: 1- Put the book in the basket 2- put the book in the basket 3- Put the book in the basket 4- put the book in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- Put the book in the basket 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the book in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the book in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the book in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Fill the basket with books. last 20 steps: 1- Put the book in the basket 2- put the book in the basket 3- Put the book in the basket 4- put the book in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- put the book in the basket 2- adjust the basket 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Fill the basket with books. last 20 steps: 1- Put the book in the basket 2- put the book in the basket 3- Put the book in the basket 4- put the book in the basket Q: immediate next step? \u003cPRED\u003eA: put the book in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Fill the basket with books. Q: immediate next step? \u003cPRED\u003eA: Put the book in the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Fill the basket with books. last 20 steps: 1- Put the book in the basket 2- put the book in the basket 3- Put the book in the basket 4- put the book in the basket Q: immediate next step? \u003cPRED\u003eA: Put the book in the basket\n\u003c/PRED\u003e","video":"8344290319435753777.mp4"}
+{"uid":"16227018475040730331","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pink packet into the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4517148856861109105.mp4"}
+{"uid":"6147857397269072712","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place 2 bags of barbeque chips on Gavin's table. . last 20 steps: 1- put bowl on the table 2- put lid of the jar on the table Q: immediate next step? \u003cPRED\u003eA: pick up a cereal scoop\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up a cereal scoop\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up a cereal 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\npick up a cereal 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place 2 bags of barbeque chips on Gavin's table. . last 20 steps: 1- put bowl on the table 2- put lid of the jar on the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick up a cereal scoop 2- put snacks in the bowl 3- put snacks in the bowl 4- put snacks in the bowl 5- put snacks in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place 2 bags of barbeque chips on Gavin's table. Q: immediate next step? \u003cPRED\u003eA: pick up a cereal scoop\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up a cereal scoop\n\u003c/PRED\u003e","video":"7624895820257978934.mp4"}
+{"uid":"15673178770937489482","text":"\u003ctask:success:discrete:True\u003e\nput bowl on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put bowl on the table\n\u003c/PRED\u003e","video":"14881803280861706703.mp4"}
+{"uid":"6691872201785206638","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":"11791341077422503993.mp4"}
+{"uid":"1368673822126924955","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the silver packet in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12808766734428366101.mp4"}
+{"uid":"3695389747063202253","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the book in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Fill the basket with books. last 20 steps: 1- Put the book in the basket 2- put the book in the basket Q: immediate next step? \u003cPRED\u003eA: Put the book in the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the book in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Fill the basket with books. last 20 steps: 1- Put the book in the basket 2- put the book in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- Put the book in the basket 2- put the book in the basket 3- Put the book in the basket 4- adjust the basket 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the book in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Fill the basket with books. Q: immediate next step? \u003cPRED\u003eA: Put the book in the basket\n\u003c/PRED\u003e","video":"15320798868517344870.mp4"}
+{"uid":"21333496228501518","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput brown roll 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":"5340189013865554118.mp4"}
+{"uid":"439128577582004046","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put bowl on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place 2 bags of barbeque chips on Gavin's table. . last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put bowl on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place 2 bags of barbeque chips on Gavin's table. . last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put bowl on the table 2- put lid of the jar on the table 3- pick up a cereal scoop 4- put snacks in the bowl 5- put snacks in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput bowl on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put bowl on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput bowl on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place 2 bags of barbeque chips on Gavin's table. Q: immediate next step? \u003cPRED\u003eA: put bowl on the table\n\u003c/PRED\u003e","video":"6429957409482943986.mp4"}
+{"uid":"15294892964888938229","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop pistachios 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":"2297772904432668542.mp4"}
+{"uid":"4648261462676291926","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pen in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9068870861048284213.mp4"}
+{"uid":"13689048109847232959","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":"6974463420780245725.mp4"}
+{"uid":"13540790076300071493","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the book in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the book in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16445780346383946957.mp4"}
+{"uid":"6435725557009178101","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put bowl on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place 2 bags of barbeque chips on Gavin's table. . last 20 steps: 1- put bowl on the table 2- put lid of the jar on the table 3- pick up a cereal scoop 4- put snacks in the bowl 5- put snacks in the bowl 6- put snacks in the bowl 7- put snacks in the bowl 8- put snacks in the bowl 9- put snacks in the bowl 10- put snacks in the bowl 11- put cereal scoop in the holder 12- cover the jar with lid 13- pick up the bowl Q: immediate next step? \u003cPRED\u003eA: put bowl on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput bowl on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put bowl on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place 2 bags of barbeque chips on Gavin's table. . last 20 steps: 1- put bowl on the table 2- put lid of the jar on the table 3- pick up a cereal scoop 4- put snacks in the bowl 5- put snacks in the bowl 6- put snacks in the bowl 7- put snacks in the bowl 8- put snacks in the bowl 9- put snacks in the bowl 10- put snacks in the bowl 11- put cereal scoop in the holder 12- cover the jar with lid 13- pick up the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put bowl on the table 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place 2 bags of barbeque chips on Gavin's table. Q: immediate next step? \u003cPRED\u003eA: put bowl on the table\n\u003c/PRED\u003e","video":"7718362960357363364.mp4"}
+{"uid":"17441091090299123639","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place 2 bags of barbeque chips on Gavin's table. . last 20 steps: 1- put bowl on the table 2- put lid of the jar on the table 3- pick up a cereal scoop 4- put snacks in the bowl 5- put snacks in the bowl 6- put snacks in the bowl 7- put snacks in the bowl 8- put snacks in the bowl 9- put snacks in the bowl 10- put snacks in the bowl 11- put cereal scoop in the holder 12- cover the jar with lid Q: immediate next step? \u003cPRED\u003eA: pick up the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place 2 bags of barbeque chips on Gavin's table. Q: immediate next step? \u003cPRED\u003eA: pick up the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place 2 bags of barbeque chips on Gavin's table. . last 20 steps: 1- put bowl on the table 2- put lid of the jar on the table 3- pick up a cereal scoop 4- put snacks in the bowl 5- put snacks in the bowl 6- put snacks in the bowl 7- put snacks in the bowl 8- put snacks in the bowl 9- put snacks in the bowl 10- put snacks in the bowl 11- put cereal scoop in the holder 12- cover the jar with lid Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the bowl 2- put bowl on the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up 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: pick up the bowl\n\u003c/PRED\u003e","video":"2279164903772500715.mp4"}
+{"uid":"17002262770588216110","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put snacks in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput snacks 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":"4338967224118280187.mp4"}
+{"uid":"13387804408952517043","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put snacks in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput snacks 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: Place 2 bags of barbeque chips on Gavin's table. Q: immediate next step? \u003cPRED\u003eA: put snacks in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put snacks in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput snacks 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 2 bags of barbeque chips on Gavin's table. . last 20 steps: 1- put bowl on the table 2- put lid of the jar on the table 3- pick up a cereal scoop 4- put snacks in the bowl 5- put snacks in the bowl Q: immediate next step? \u003cPRED\u003eA: put snacks in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place 2 bags of barbeque chips on Gavin's table. . last 20 steps: 1- put bowl on the table 2- put lid of the jar on the table 3- pick up a cereal scoop 4- put snacks in the bowl 5- put snacks in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put snacks in the bowl 2- put snacks in the bowl 3- put snacks in the bowl 4- put snacks in the bowl 5- put snacks in the bowl\n\u003c/PRED\u003e","video":"11921910796479030999.mp4"}
+{"uid":"12234605186298947029","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nThrow the tissue paper into the trash bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10253144350346505966.mp4"}
+{"uid":"10805271413017201426","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Fill the basket with books. last 20 steps: 1- Put the book in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- Put the book in the basket 2- Put the book in the basket 3- put the book in the basket 4- Put the book in the basket 5- adjust the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the book in the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Fill the basket with books. last 20 steps: 1- Put the book in the basket Q: immediate next step? \u003cPRED\u003eA: Put the book in the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the book in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the book in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Fill the basket with books. Q: immediate next step? \u003cPRED\u003eA: Put the book in the basket\n\u003c/PRED\u003e","video":"8885849962680260538.mp4"}
+{"uid":"14719210525586387178","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Fill the basket with books. last 20 steps: 1- Put the book in the basket Q: immediate next step? \u003cPRED\u003eA: Put the book in the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the book in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the book in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the book in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Fill the basket with books. last 20 steps: 1- Put the book in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- Put the book in the basket 2- Put the book in the basket 3- put the book in the basket 4- Put the book in the basket 5- adjust the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Fill the basket with books. Q: immediate next step? \u003cPRED\u003eA: Put the book in the basket\n\u003c/PRED\u003e","video":"5548618401076220152.mp4"}
+{"uid":"7518484531377460897","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the yellow label black packet in the right bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2784687487572260192.mp4"}
+{"uid":"4613191605163690950","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the book in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the book in the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the book in the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Fill the basket with books. last 20 steps: 1- Put the book in the basket 2- put the book in the basket 3- Put the book in the basket Q: immediate next step? \u003cPRED\u003eA: Put the book in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Fill the basket with books. last 20 steps: 1- Put the book in the basket 2- put the book in the basket 3- Put the book in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- Put the book in the basket 2- Put the book in the basket 3- adjust the basket 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Fill the basket with books. Q: immediate next step? \u003cPRED\u003eA: Put the book in the basket\n\u003c/PRED\u003e","video":"9637556670677904002.mp4"}
+{"uid":"2719259782490263148","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put lid of the jar on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput lid of the jar on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11981418160875365196.mp4"}
+{"uid":"6711365166322385038","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the book in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the book in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the book in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Fill the basket with books. Q: immediate next step? \u003cPRED\u003eA: put the book in the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Fill the basket with books. last 20 steps: 1- Put the book in the basket 2- put the book in the basket Q: immediate next step? \u003cPRED\u003eA: put the book in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Fill the basket with books. last 20 steps: 1- Put the book in the basket 2- put the book in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- put the book in the basket 2- put the book in the basket 3- Put the book in the basket 4- adjust the basket 5- done\n\u003c/PRED\u003e","video":"11167118205042319279.mp4"}
+{"uid":"3557694855485216001","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the top drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4048316455260307408.mp4"}
+{"uid":"14367716025324096489","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a 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":"513134088206466110.mp4"}
+{"uid":"12400318496806019639","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the book in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Fill the basket with books. Q: immediate next step? \u003cPRED\u003eA: put the book in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the book in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Fill the basket with books. last 20 steps: 1- Put the book in the basket 2- put the book in the basket 3- Put the book in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- put the book in the basket 2- Put the book in the basket 3- adjust the basket 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Fill the basket with books. last 20 steps: 1- Put the book in the basket 2- put the book in the basket 3- Put the book in the basket Q: immediate next step? \u003cPRED\u003eA: put the book in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the book in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4002495576200663550.mp4"}
+{"uid":"10915037982338185001","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put snacks in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput snacks 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":"10188937713062110141.mp4"}
+{"uid":"14701737155496234588","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the book in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the book in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6258315376431713977.mp4"}
+{"uid":"1997889655845946009","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the book in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the book in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16185357433645769191.mp4"}
+{"uid":"3156728645140797306","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove your arm close to a pen Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10062364933284405013.mp4"}
+{"uid":"8018121506907212230","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put snacks in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place 2 bags of barbeque chips on Gavin's table. . last 20 steps: 1- put bowl on the table 2- put lid of the jar on the table 3- pick up a cereal scoop 4- put snacks in the bowl 5- put snacks in the bowl 6- put snacks in the bowl 7- put snacks in the bowl 8- put snacks in the bowl Q: immediate next step? \u003cPRED\u003eA: put snacks in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place 2 bags of barbeque chips on Gavin's table. Q: immediate next step? \u003cPRED\u003eA: put snacks in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put snacks in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput snacks 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 2 bags of barbeque chips on Gavin's table. . last 20 steps: 1- put bowl on the table 2- put lid of the jar on the table 3- pick up a cereal scoop 4- put snacks in the bowl 5- put snacks in the bowl 6- put snacks in the bowl 7- put snacks in the bowl 8- put snacks in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put snacks in the bowl 2- put snacks in the bowl 3- put cereal scoop in the holder 4- cover the jar with lid 5- pick up the bowl\n\u003c/PRED\u003e","video":"17270008600775737221.mp4"}
+{"uid":"3777585631759193926","text":"\u003ctask:success:discrete:True\u003e\nput snacks 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 snacks in the bowl\n\u003c/PRED\u003e","video":"7226563620016942720.mp4"}
+{"uid":"5235151755576459981","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place 2 bags of barbeque chips on Gavin's table. . last 20 steps: 1- put bowl on the table 2- put lid of the jar on the table 3- pick up a cereal scoop 4- put snacks in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put snacks in the bowl 2- put snacks in the bowl 3- put snacks in the bowl 4- put snacks in the bowl 5- put snacks in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place 2 bags of barbeque chips on Gavin's table. Q: immediate next step? \u003cPRED\u003eA: put snacks in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put snacks in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput snacks 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 2 bags of barbeque chips on Gavin's table. . last 20 steps: 1- put bowl on the table 2- put lid of the jar on the table 3- pick up a cereal scoop 4- put snacks in the bowl Q: immediate next step? \u003cPRED\u003eA: put snacks in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put snacks in the bowl\n\u003c/PRED\u003e","video":"2243743094441995403.mp4"}
+{"uid":"17591689607287507986","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick the orange packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\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":"17312858863296892430.mp4"}
+{"uid":"13621352026766336898","text":"\u003ctask:success:discrete:True\u003e\nput snacks 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 snacks in the bowl\n\u003c/PRED\u003e","video":"4360918689638234560.mp4"}
+{"uid":"1126011752862076169","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the book in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the book in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13873588440275014152.mp4"}
+{"uid":"12012931301718100630","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the book in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the book in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2994510696653650333.mp4"}
+{"uid":"8795560304934422923","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Fill the basket with books. Q: immediate next step? \u003cPRED\u003eA: Put the book in the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the book in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the book in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Fill the basket with books. last 20 steps: 1- Put the book in the basket 2- put the book in the basket 3- Put the book in the basket Q: immediate next step? \u003cPRED\u003eA: Put the book in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the book in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Fill the basket with books. last 20 steps: 1- Put the book in the basket 2- put the book in the basket 3- Put the book in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- Put the book in the basket 2- Put the book in the basket 3- adjust the basket 4- done\n\u003c/PRED\u003e","video":"11028117459907948240.mp4"}
+{"uid":"15726341080604216341","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"773430849977140693.mp4"}
+{"uid":"7111497204408579361","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Fill the basket with books. Q: immediate next step? \u003cPRED\u003eA: Put the book in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Fill the basket with books. last 20 steps: 1- Put the book in the basket 2- put the book in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- Put the book in the basket 2- put the book in the basket 3- Put the book in the basket 4- adjust the basket 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the book in the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Fill the basket with books. last 20 steps: 1- Put the book in the basket 2- put the book in the basket Q: immediate next step? \u003cPRED\u003eA: Put the book in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the book in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the book in the basket\n\u003c/PRED\u003e","video":"15067143578171487730.mp4"}
+{"uid":"16426462985978417634","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the book in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the book in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1479520426776783190.mp4"}
+{"uid":"7965637360590864518","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the book in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the book in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3165291544485306278.mp4"}
+{"uid":"3893463287069840773","text":"\u003ctask:success:discrete:False\u003e\nadjust the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: adjust the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Fill the basket with books. last 20 steps: 1- Put the book in the basket 2- put the book in the basket 3- Put the book in the basket 4- put the book in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- adjust the basket 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Fill the basket with books. Q: immediate next step? \u003cPRED\u003eA: adjust the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Fill the basket with books. last 20 steps: 1- Put the book in the basket 2- put the book in the basket 3- Put the book in the basket 4- put the book in the basket Q: immediate next step? \u003cPRED\u003eA: adjust the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: adjust the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nadjust the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1768309970681959030.mp4"}
+{"uid":"14286341643953805065","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":"437940162157860934.mp4"}
+{"uid":"14802148774392640842","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the orange packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16927970204269385444.mp4"}
+{"uid":"6049236688079774915","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the knife in the knife 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":"11963553718541930512.mp4"}
+{"uid":"8430189237499889024","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Fill the basket with books. last 20 steps: 1- Put the book in the basket 2- put the book in the basket 3- Put the book in the basket 4- put the book in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- Put the book in the basket 2- adjust the basket 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Fill the basket with books. Q: immediate next step? \u003cPRED\u003eA: Put the book in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the book in the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Fill the basket with books. last 20 steps: 1- Put the book in the basket 2- put the book in the basket 3- Put the book in the basket 4- put the book in the basket Q: immediate next step? \u003cPRED\u003eA: Put the book in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the book in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the book in the basket\n\u003c/PRED\u003e","video":"5193031100489984582.mp4"}
+{"uid":"6889610445461372564","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Fill the basket with books. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the book in the basket 2- put the book in the basket 3- Put the book in the basket 4- put the book in the basket 5- Put the book in the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the book in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the book in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Fill the basket with books. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the book in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Fill the basket with books. Q: immediate next step? \u003cPRED\u003eA: Put the book in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the book in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the book in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8533235663842931426.mp4"}
+{"uid":"13196885757713521860","text":"\u003ctask:success:discrete:True\u003e\nput snacks 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 snacks in the bowl\n\u003c/PRED\u003e","video":"10687012773813012275.mp4"}
+{"uid":"10970049775051333476","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Place 2 bags of barbeque chips on Gavin's table. Q: immediate next step? \u003cPRED\u003eA: put snacks in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput snacks 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 2 bags of barbeque chips on Gavin's table. . last 20 steps: 1- put bowl on the table 2- put lid of the jar on the table 3- pick up a cereal scoop 4- put snacks in the bowl 5- put snacks in the bowl 6- put snacks in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put snacks in the bowl 2- put snacks in the bowl 3- put snacks in the bowl 4- put snacks in the bowl 5- put cereal scoop in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place 2 bags of barbeque chips on Gavin's table. . last 20 steps: 1- put bowl on the table 2- put lid of the jar on the table 3- pick up a cereal scoop 4- put snacks in the bowl 5- put snacks in the bowl 6- put snacks in the bowl Q: immediate next step? \u003cPRED\u003eA: put snacks in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put snacks in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put snacks in the bowl\n\u003c/PRED\u003e","video":"6950378376360315658.mp4"}
+{"uid":"17097121825621201406","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put snacks in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput snacks 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":"1939797004947244054.mp4"}
+{"uid":"2813447771180658768","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the jar lid on the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13029844398608416536.mp4"}
+{"uid":"15068748238784739081","text":"\u003ctask:success:discrete:True\u003e\nput the book in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the book in the basket\n\u003c/PRED\u003e","video":"13429492882850172230.mp4"}
+{"uid":"11618969830432463465","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace sticky notes on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1007703359677296154.mp4"}
+{"uid":"3517829810994888663","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the 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":"13874294035022848745.mp4"}
+{"uid":"4488143416602678156","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Place 2 bags of barbeque chips on Gavin's table. Q: immediate next step? \u003cPRED\u003eA: put snacks in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place 2 bags of barbeque chips on Gavin's table. . last 20 steps: 1- put bowl on the table 2- put lid of the jar on the table 3- pick up a cereal scoop 4- put snacks in the bowl 5- put snacks in the bowl 6- put snacks in the bowl 7- put snacks in the bowl 8- put snacks in the bowl 9- put snacks in the bowl Q: immediate next step? \u003cPRED\u003eA: put snacks in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put snacks in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put snacks in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place 2 bags of barbeque chips on Gavin's table. . last 20 steps: 1- put bowl on the table 2- put lid of the jar on the table 3- pick up a cereal scoop 4- put snacks in the bowl 5- put snacks in the bowl 6- put snacks in the bowl 7- put snacks in the bowl 8- put snacks in the bowl 9- put snacks in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put snacks in the bowl 2- put cereal scoop in the holder 3- cover the jar with lid 4- pick up the bowl 5- put bowl on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput snacks 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":"2444644505248347348.mp4"}
+{"uid":"6208139156353455547","text":"\u003ctask:success:discrete:True\u003e\nPut the book in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the book in the basket\n\u003c/PRED\u003e","video":"13098866969051729644.mp4"}
+{"uid":"6955731269466566353","text":"\u003ctask:success:discrete:True\u003e\nPut the book in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the book in the basket\n\u003c/PRED\u003e","video":"4222596777057975157.mp4"}
+{"uid":"7635475553123134043","text":"\u003ctask:success:discrete:True\u003e\nput snacks 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 snacks in the bowl\n\u003c/PRED\u003e","video":"942775155334785540.mp4"}
+{"uid":"1501036309025268835","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Place 2 bags of barbeque chips on Gavin's table. Q: immediate next step? \u003cPRED\u003eA: put snacks in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place 2 bags of barbeque chips on Gavin's table. . last 20 steps: 1- put bowl on the table 2- put lid of the jar on the table 3- pick up a cereal scoop Q: immediate next step? \u003cPRED\u003eA: put snacks in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put snacks in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place 2 bags of barbeque chips on Gavin's table. . last 20 steps: 1- put bowl on the table 2- put lid of the jar on the table 3- pick up a cereal scoop Q: next 5 steps? \u003cPRED\u003eA: 1- put snacks in the bowl 2- put snacks in the bowl 3- put snacks in the bowl 4- put snacks in the bowl 5- put snacks in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput snacks 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 snacks in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput snacks 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":"10949445788307747002.mp4"}
+{"uid":"4303403884611790065","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPour the pistachio in the paper bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12395101393529388276.mp4"}
+{"uid":"9000550794024329121","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place 2 bags of barbeque chips on Gavin's table. . last 20 steps: 1- put bowl on the table 2- put lid of the jar on the table 3- pick up a cereal scoop 4- put snacks in the bowl 5- put snacks in the bowl 6- put snacks in the bowl 7- put snacks in the bowl 8- put snacks in the bowl 9- put snacks in the bowl 10- put snacks in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put cereal scoop in the holder 2- cover the jar with lid 3- pick up the bowl 4- put bowl on the table 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place 2 bags of barbeque chips on Gavin's table. . last 20 steps: 1- put bowl on the table 2- put lid of the jar on the table 3- pick up a cereal scoop 4- put snacks in the bowl 5- put snacks in the bowl 6- put snacks in the bowl 7- put snacks in the bowl 8- put snacks in the bowl 9- put snacks in the bowl 10- put snacks in the bowl Q: immediate next step? \u003cPRED\u003eA: put cereal scoop in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput cereal 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put cereal scoop in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put cereal scoop in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place 2 bags of barbeque chips on Gavin's table. Q: immediate next step? \u003cPRED\u003eA: put cereal scoop in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput cereal 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","video":"6708027248838124859.mp4"}
+{"uid":"6179535633831736012","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the book in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the book in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2109191448992351284.mp4"}
+{"uid":"3614682089982283844","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Fill the basket with books. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the book in the basket 2- put the book in the basket 3- Put the book in the basket 4- put the book in the basket 5- Put the book in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the book in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the book in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the book in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Fill the basket with books. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the book in the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the book in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Fill the basket with books. Q: immediate next step? \u003cPRED\u003eA: put the book in the basket\n\u003c/PRED\u003e","video":"8778477248963004661.mp4"}
+{"uid":"1740203067126379486","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the book in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the book in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5105299886575740967.mp4"}
+{"uid":"320825376584617569","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut pink packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15795288468311995376.mp4"}
+{"uid":"9024564348649183654","text":"\u003ctask:success:discrete:False\u003e\npick the wipes packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the wipes packet\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf Q: immediate next step? \u003cPRED\u003eA: pick the wipes packet\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the wipes packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm Q: next 5 steps? \u003cPRED\u003eA: 1- pick the wipes packet 2- move back 3- move your arm towards the trolley 4- place the wipes packet in the trolley 5- move your arm up\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm Q: immediate next step? \u003cPRED\u003eA: pick the wipes packet\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the wipes packet\n\u003c/PRED\u003e","video":"17963058996276440282.mp4"}
+{"uid":"9452716702257533366","text":"\u003ctask:success:discrete:True\u003e\npick up the wipes packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the wipes packet\n\u003c/PRED\u003e","video":"5174521571530691955.mp4"}
+{"uid":"1010116426216247882","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nexit the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up 9- move your arm close to the cardboard box 10- move the cardboard box close to the cable 11- move your arm close to the brown box 12- pick the cardboard box 13- slightly move your arm back Q: next 5 steps? \u003cPRED\u003eA: 1- exit the room 2- move to the left 3- move close to the shelf 4- place the brown box in the shelf 5- slightly move your arm back\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf Q: immediate next step? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up 9- move your arm close to the cardboard box 10- move the cardboard box close to the cable 11- move your arm close to the brown box 12- pick the cardboard box 13- slightly move your arm back 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: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","video":"17500314488699661024.mp4"}
+{"uid":"6879214294343635190","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move towards the trolley\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove towards the trolley Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet Q: next 5 steps? \u003cPRED\u003eA: 1- move towards the trolley 2- place the wipes packet in the trolley 3- move your arm up 4- move your arm close to the cardboard box 5- move the cardboard box close to the cable\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move towards the trolley\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove towards the trolley Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf Q: immediate next step? \u003cPRED\u003eA: move towards the trolley\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet Q: immediate next step? \u003cPRED\u003eA: move towards the trolley\n\u003c/PRED\u003e","video":"11193172523169225579.mp4"}
+{"uid":"16281904351819925405","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":"11996523315411684253.mp4"}
+{"uid":"18378313814865670135","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the lid on the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17646496051866617233.mp4"}
+{"uid":"9420726819851602594","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick the wet wipes packet\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the wet wipes packet\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the wet wipes packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the wet wipes packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the wet wipes packet\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf Q: immediate next step? \u003cPRED\u003eA: pick the wet wipes packet\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick the wet wipes packet 2- place the wipes packet on the table 3- pick up the wet wipes packet 4- move back 5- move your arm towards the trolley\n\u003c/PRED\u003e","video":"7474204060870278670.mp4"}
+{"uid":"5557264624580887419","text":"\u003ctask:success:discrete:False\u003e\npick the brown box from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the brown box from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up 9- move your arm close to the cardboard box 10- move the cardboard box close to the cable 11- move your arm close to the brown box Q: immediate next step? \u003cPRED\u003eA: pick the brown box from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf Q: immediate next step? \u003cPRED\u003eA: pick the brown box from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the brown box from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up 9- move your arm close to the cardboard box 10- move the cardboard box close to the cable 11- move your arm close to the brown box Q: next 5 steps? \u003cPRED\u003eA: 1- pick the brown box from the table 2- turn to the right 3- go out of the room 4- move to the left 5- move close to the shelf\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the brown box from the table\n\u003c/PRED\u003e","video":"17077182857782810899.mp4"}
+{"uid":"8449015699617349813","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the plastic glass on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15085599028461153814.mp4"}
+{"uid":"1747884711042459428","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf Q: immediate next step? \u003cPRED\u003eA: move your arm up\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley Q: immediate next step? \u003cPRED\u003eA: move your arm up\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley Q: next 5 steps? \u003cPRED\u003eA: 1- move your arm up 2- move your arm close to the cardboard box 3- move the cardboard box close to the cable 4- move your arm close to the brown box 5- pick the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove your arm up Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove your arm up Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move your arm up\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move your arm up\n\u003c/PRED\u003e","video":"6802138166490372001.mp4"}
+{"uid":"9886913625076591388","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candies in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16208827961273754125.mp4"}
+{"uid":"11099280992225103536","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the wet wipes packet\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the wet wipes 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","video":"17301854938463294040.mp4"}
+{"uid":"12746216482763743222","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up 9- move your arm close to the cardboard box 10- move the cardboard box close to the cable 11- move your arm close to the brown box 12- pick the cardboard box 13- slightly move your arm back 14- turn to the right 15- go out of the room 16- move to the left 17- move close to the shelf 18- place the brown box in the shelf Q: next 5 steps? \u003cPRED\u003eA: 1- slightly move your arm back 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: slightly move your arm back\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: slightly move your arm back\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up 9- move your arm close to the cardboard box 10- move the cardboard box close to the cable 11- move your arm close to the brown box 12- pick the cardboard box 13- slightly move your arm back 14- turn to the right 15- go out of the room 16- move to the left 17- move close to the shelf 18- place the brown box in the shelf Q: immediate next step? \u003cPRED\u003eA: slightly move your arm back\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nslightly move your arm back Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf Q: immediate next step? \u003cPRED\u003eA: slightly move your arm back\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nslightly move your arm back Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5345133771918506504.mp4"}
+{"uid":"5314195070380159164","text":"\u003ctask:success:discrete:True\u003e\npick the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the cardboard box\n\u003c/PRED\u003e","video":"6979935309036351128.mp4"}
+{"uid":"6494055554178859915","text":"\u003ctask:success:discrete:True\u003e\npick the wipes 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 wipes packet\n\u003c/PRED\u003e","video":"16011622889361824210.mp4"}
+{"uid":"3068478282402402193","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ngrab the cap Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13956823123359484522.mp4"}
+{"uid":"5170284198248248816","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the white chip packet in a tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12759307397860330929.mp4"}
+{"uid":"16509621276384682891","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf Q: immediate next step? \u003cPRED\u003eA: move your arm upwards\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley Q: next 5 steps? \u003cPRED\u003eA: 1- move your arm upwards 2- move your arm close to the cardboard box 3- move the cardboard box close to the cable 4- move your arm close to the brown box 5- pick the cardboard box\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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move your arm upwards\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move your arm upwards\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley Q: immediate next step? \u003cPRED\u003eA: move your arm upwards\n\u003c/PRED\u003e","video":"2633914436212604793.mp4"}
+{"uid":"16606800757493452715","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: go out of the room\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngo 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: go out of the room\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up 9- move your arm close to the cardboard box 10- move the cardboard box close to the cable 11- move your arm close to the brown box 12- pick the cardboard box 13- slightly move your arm back Q: immediate next step? \u003cPRED\u003eA: go out of the room\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up 9- move your arm close to the cardboard box 10- move the cardboard box close to the cable 11- move your arm close to the brown box 12- pick the cardboard box 13- slightly move your arm back Q: next 5 steps? \u003cPRED\u003eA: 1- go out of the room 2- move close to the shelf 3- place the brown box in the shelf 4- slightly move your arm back 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf Q: immediate next step? \u003cPRED\u003eA: go out of the room\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngo 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","video":"16054635120117676656.mp4"}
+{"uid":"10527744742828517983","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":"12608010533982736394.mp4"}
+{"uid":"13057887453054563293","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: lift your arm\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nlift your arm Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8150036977260295907.mp4"}
+{"uid":"6438682647208670685","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move close to the door\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up 9- move your arm close to the cardboard box 10- move the cardboard box close to the cable 11- move your arm close to the brown box 12- pick the cardboard box 13- slightly move your arm back Q: next 5 steps? \u003cPRED\u003eA: 1- move close to the door 2- move to the left 3- move close to the shelf 4- place the brown box in the shelf 5- slightly move your arm back\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf Q: immediate next step? \u003cPRED\u003eA: move close to the door\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up 9- move your arm close to the cardboard box 10- move the cardboard box close to the cable 11- move your arm close to the brown box 12- pick the cardboard box 13- slightly move your arm back Q: immediate next step? \u003cPRED\u003eA: move close to the door\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move close to the door\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove close to the door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove close to 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":"9906782899398247552.mp4"}
+{"uid":"14484539911438357063","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move the cardboard box close to the cable\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove the cardboard box close to the cable Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3418243648197235199.mp4"}
+{"uid":"5120782305833320154","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up 9- move your arm close to the cardboard box 10- move the cardboard box close to the cable 11- move your arm close to the brown box Q: immediate next step? \u003cPRED\u003eA: pick up the brown box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf Q: immediate next step? \u003cPRED\u003eA: pick up the brown box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the brown box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the brown box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up 9- move your arm close to the cardboard box 10- move the cardboard box close to the cable 11- move your arm close to the brown box Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the brown box 2- go out of the room 3- move to the left 4- move close to the shelf 5- place the brown box in the shelf\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the brown box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the brown box\n\u003c/PRED\u003e","video":"4521279925357863025.mp4"}
+{"uid":"17403340361571618790","text":"\u003ctask:success:discrete:False\u003e\npick up the wet wipes 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: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the wet wipes packet 2- place the wipes packet on the table 3- pick up the wet wipes packet 4- move back 5- move your arm towards the trolley\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick up the wet wipes packet\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the wet wipes 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: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf Q: immediate next step? \u003cPRED\u003eA: pick up the wet wipes packet\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the wet wipes packet\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the wet wipes packet\n\u003c/PRED\u003e","video":"2262920510930147390.mp4"}
+{"uid":"8033964354066776319","text":"\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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up 9- move your arm close to the cardboard box 10- move the cardboard box close to the cable 11- move your arm close to the brown box 12- pick the cardboard box 13- slightly move your arm back 14- turn to the right 15- go 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: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up 9- move your arm close to the cardboard box 10- move the cardboard box close to the cable 11- move your arm close to the brown box 12- pick the cardboard box 13- slightly move your arm back 14- turn to the right 15- go out of the room Q: next 5 steps? \u003cPRED\u003eA: 1- move forward 2- place the brown box in the shelf 3- slightly move your arm back 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf Q: immediate next step? \u003cPRED\u003eA: move forward\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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move forward\n\u003c/PRED\u003e","video":"13074484555222768030.mp4"}
+{"uid":"347455229290716146","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf Q: immediate next step? \u003cPRED\u003eA: pick up the wipes packet\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick up the wipes packet\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the wipes packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the wipes packet\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the wipes packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the wipes packet\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the wipes packet 2- place the wipes packet on the table 3- pick up the wet wipes packet 4- move back 5- move your arm towards the trolley\n\u003c/PRED\u003e","video":"17804081756956569244.mp4"}
+{"uid":"3873448615346502175","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up 9- move your arm close to the cardboard box 10- move the cardboard box close to the cable 11- move your arm close to the brown box 12- pick the cardboard box 13- slightly move your arm back 14- turn to the right 15- go out of the room 16- move to the left Q: immediate next step? \u003cPRED\u003eA: move close to the shelf\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up 9- move your arm close to the cardboard box 10- move the cardboard box close to the cable 11- move your arm close to the brown box 12- pick the cardboard box 13- slightly move your arm back 14- turn to the right 15- go out of the room 16- move to the left Q: next 5 steps? \u003cPRED\u003eA: 1- move close to the shelf 2- slightly move your arm back 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf Q: immediate next step? \u003cPRED\u003eA: move close to the shelf\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove close to the shelf Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move close to the shelf\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move close to the shelf\n\u003c/PRED\u003e","video":"15673467811614702717.mp4"}
+{"uid":"13997370346328343135","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf Q: immediate next step? \u003cPRED\u003eA: move your arm back\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up 9- move your arm close to the cardboard box 10- move the cardboard box close to the cable 11- move your arm close to the brown box 12- pick the cardboard box 13- slightly move your arm back 14- turn to the right 15- go out of the room 16- move to the left 17- move close to the shelf 18- place the brown box in the shelf Q: immediate next step? \u003cPRED\u003eA: move your arm back\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move your arm back\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove your arm back Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove your arm back Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up 9- move your arm close to the cardboard box 10- move the cardboard box close to the cable 11- move your arm close to the brown box 12- pick the cardboard box 13- slightly move your arm back 14- turn to the right 15- go out of the room 16- move to the left 17- move close to the shelf 18- place the brown box in the shelf Q: next 5 steps? \u003cPRED\u003eA: 1- move your arm back 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move your arm back\n\u003c/PRED\u003e","video":"9672011269446347295.mp4"}
+{"uid":"1450972801384407712","text":"\u003ctask:success:discrete:True\u003e\nmove close to the shelf Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move close to the shelf\n\u003c/PRED\u003e","video":"17080747212112419481.mp4"}
+{"uid":"2715885193209889099","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nmove your arm close to the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf Q: immediate next step? \u003cPRED\u003eA: move your arm close to the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move your arm close to the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove your arm close to the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up Q: next 5 steps? \u003cPRED\u003eA: 1- move your arm close to the cardboard box 2- move your arm close to the brown box 3- pick the cardboard box 4- slightly move your arm back 5- turn to the right\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up Q: immediate next step? \u003cPRED\u003eA: move your arm close to the cardboard box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move your arm close to the cardboard box\n\u003c/PRED\u003e","video":"10993945008826174751.mp4"}
+{"uid":"3819874108047127523","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: grab the brown box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ngrab the brown box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3767202657399577454.mp4"}
+{"uid":"1387796374247477737","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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move your arm upwards\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move your arm upwards\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley Q: immediate next step? \u003cPRED\u003eA: move your arm upwards\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove your arm upwards Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf Q: immediate next step? \u003cPRED\u003eA: move your arm upwards\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley Q: next 5 steps? \u003cPRED\u003eA: 1- move your arm upwards 2- move your arm close to the cardboard box 3- move the cardboard box close to the cable 4- move your arm close to the brown box 5- pick the cardboard box\n\u003c/PRED\u003e","video":"6170494395008983635.mp4"}
+{"uid":"17591735342496434500","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf Q: immediate next step? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nexit the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up 9- move your arm close to the cardboard box 10- move the cardboard box close to the cable 11- move your arm close to the brown box 12- pick the cardboard box 13- slightly move your arm back Q: immediate next step? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up 9- move your arm close to the cardboard box 10- move the cardboard box close to the cable 11- move your arm close to the brown box 12- pick the cardboard box 13- slightly move your arm back Q: next 5 steps? \u003cPRED\u003eA: 1- exit the room 2- move close to the shelf 3- place the brown box in the shelf 4- slightly move your arm back 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nexit the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9293241629141695961.mp4"}
+{"uid":"12769215735638499274","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up Q: immediate next step? \u003cPRED\u003eA: drag the brown box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drag the brown box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrag the brown box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrag the brown box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up Q: next 5 steps? \u003cPRED\u003eA: 1- drag the brown box 2- move your arm close to the brown box 3- pick the cardboard box 4- slightly move your arm back 5- turn to the right\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf Q: immediate next step? \u003cPRED\u003eA: drag the brown box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drag the brown box\n\u003c/PRED\u003e","video":"6916610381917111998.mp4"}
+{"uid":"4495822938176156691","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":"14099193667610126659.mp4"}
+{"uid":"15732040607032318855","text":"\u003ctask:success:discrete:True\u003e\nslightly move your arm 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: slightly move your arm forward\n\u003c/PRED\u003e","video":"10203849969865066473.mp4"}
+{"uid":"6935273853746548685","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up 9- move your arm close to the cardboard box 10- move the cardboard box close to the cable 11- move your arm close to the brown box 12- pick the cardboard box 13- slightly move your arm back 14- turn to the right 15- go out of the room 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move forward\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf Q: immediate next step? \u003cPRED\u003eA: move forward\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up 9- move your arm close to the cardboard box 10- move the cardboard box close to the cable 11- move your arm close to the brown box 12- pick the cardboard box 13- slightly move your arm back 14- turn to the right 15- go out of the room Q: next 5 steps? \u003cPRED\u003eA: 1- move forward 2- place the brown box in the shelf 3- slightly move your arm back 4- done\n\u003c/PRED\u003e","video":"14015223956403995550.mp4"}
+{"uid":"1786100104260635806","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: grasp the wipes packet\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ngrasp the wipes 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","video":"12471840443957613464.mp4"}
+{"uid":"62957038155507011","text":"\u003ctask:success:discrete:True\u003e\nmove close to the shelf Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move close to the shelf\n\u003c/PRED\u003e","video":"11480842217130655546.mp4"}
+{"uid":"10259403275441615906","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":"10487370081821822180.mp4"}
+{"uid":"1191714700575963444","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf Q: immediate next step? \u003cPRED\u003eA: move your arm close to the brown box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move your arm close to the brown box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove your arm close to the brown box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove your arm close to the brown box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move your arm close to the brown box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up 9- move your arm close to the cardboard box 10- move the cardboard box close to the cable Q: next 5 steps? \u003cPRED\u003eA: 1- move your arm close to the brown box 2- pick the cardboard box 3- slightly move your arm back 4- turn to the right 5- go out of the room\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up 9- move your arm close to the cardboard box 10- move the cardboard box close to the cable Q: immediate next step? \u003cPRED\u003eA: move your arm close to the brown box\n\u003c/PRED\u003e","video":"5493084662758423178.mp4"}
+{"uid":"1639632810639804662","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move to the left\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove to the left Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up 9- move your arm close to the cardboard box 10- move the cardboard box close to the cable 11- move your arm close to the brown box 12- pick the cardboard box 13- slightly move your arm back 14- turn to the right Q: next 5 steps? \u003cPRED\u003eA: 1- move to the left 2- place the brown box in the shelf 3- slightly move your arm back 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf Q: immediate next step? \u003cPRED\u003eA: move to the left\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up 9- move your arm close to the cardboard box 10- move the cardboard box close to the cable 11- move your arm close to the brown box 12- pick the cardboard box 13- slightly move your arm back 14- turn to the right Q: immediate next step? \u003cPRED\u003eA: move to the left\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move to the left\n\u003c/PRED\u003e","video":"6926153557958020376.mp4"}
+{"uid":"13989500226396964614","text":"\u003ctask:success:discrete:True\u003e\npick the wet wipes 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 wet wipes packet\n\u003c/PRED\u003e","video":"4343661444629497681.mp4"}
+{"uid":"14909095530630290685","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":"14097735247440092832.mp4"}
+{"uid":"3723062202580932711","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pink cup in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4424207707156663726.mp4"}
+{"uid":"9176484097989508920","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":"15588472453497169198.mp4"}
+{"uid":"5954047365657029010","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":"10828835252205409622.mp4"}
+{"uid":"5381863413034594946","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace orange packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16168455858478022477.mp4"}
+{"uid":"9113942975749120740","text":"\u003ctask:success:discrete:True\u003e\nplace the cardboard box in the middle shelf Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the cardboard box in the middle shelf\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up 9- move your arm close to the cardboard box 10- move the cardboard box close to the cable 11- move your arm close to the brown box 12- pick the cardboard box 13- slightly move your arm back 14- turn to the right 15- go out of the room 16- move to the left 17- move close to the shelf 18- place the cardboard box in the middle shelf Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up 9- move your arm close to the cardboard box 10- move the cardboard box close to the cable 11- move your arm close to the brown box 12- pick the cardboard box 13- slightly move your arm back 14- turn to the right 15- go out of the room 16- move to the left 17- move close to the shelf 18- place the cardboard box in the middle shelf Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"9805927217726967694.mp4"}
+{"uid":"14343450139928906334","text":"\u003ctask:success:discrete:True\u003e\nmove close 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 close to the table\n\u003c/PRED\u003e","video":"5407305564153431194.mp4"}
+{"uid":"4360841863708947365","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: slightly move your arm forward\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nslightly move your arm 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":"4992422906619438243.mp4"}
+{"uid":"16240301298061469697","text":"\u003ctask:success:discrete:True\u003e\nplace the brown box in the shelf Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the brown box in the shelf\n\u003c/PRED\u003e","video":"833195059609499907.mp4"}
+{"uid":"12650883355551945318","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the blue ball in the billiard triangle 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":"8718979683306689969.mp4"}
+{"uid":"3053351442041837963","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf Q: immediate next step? \u003cPRED\u003eA: slightly lift your arm\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: slightly lift your arm\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: slightly lift your arm\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nslightly lift your arm Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: slightly lift your arm\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nslightly lift your arm Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- slightly lift your arm 2- place the wipes packet on the table 3- pick up the wet wipes packet 4- move back 5- move your arm towards the trolley\n\u003c/PRED\u003e","video":"8618280046078316640.mp4"}
+{"uid":"15710106971868320318","text":"\u003ctask:success:discrete:True\u003e\nmove close to the middle shelf Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move close to the middle shelf\n\u003c/PRED\u003e","video":"16280149674571003671.mp4"}
+{"uid":"3871909303561234983","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: turn to the right\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nturn 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":"2467327441358438356.mp4"}
+{"uid":"13683689323825833903","text":"\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\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move forward\n\u003c/PRED\u003e","video":"17209180980412393757.mp4"}
+{"uid":"10954390792359635170","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up Q: next 5 steps? \u003cPRED\u003eA: 1- move close to the table 2- move the cardboard box close to the cable 3- move your arm close to the brown box 4- pick the cardboard box 5- slightly move your arm back\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf Q: immediate next step? \u003cPRED\u003eA: move close to the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move close to the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move close to the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove close to the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up Q: immediate next step? \u003cPRED\u003eA: move close to the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove close to the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1250631448738891886.mp4"}
+{"uid":"8107220819797106437","text":"\u003ctask:success:discrete:True\u003e\nmove the brown box close to the blue cable Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 brown box close to the blue cable\n\u003c/PRED\u003e","video":"16608018625705191361.mp4"}
+{"uid":"11200585954028114775","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace brown tissue paper on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3308029614302373392.mp4"}
+{"uid":"6953678605245194471","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move close to the shelf\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up 9- move your arm close to the cardboard box 10- move the cardboard box close to the cable 11- move your arm close to the brown box 12- pick the cardboard box 13- slightly move your arm back 14- turn to the right 15- go out of the room 16- move to the left Q: next 5 steps? \u003cPRED\u003eA: 1- move close to the shelf 2- slightly move your arm back 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove close to the shelf Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove close to the shelf Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf Q: immediate next step? \u003cPRED\u003eA: move close to the shelf\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move close to the shelf\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up 9- move your arm close to the cardboard box 10- move the cardboard box close to the cable 11- move your arm close to the brown box 12- pick the cardboard box 13- slightly move your arm back 14- turn to the right 15- go out of the room 16- move to the left Q: immediate next step? \u003cPRED\u003eA: move close to the shelf\n\u003c/PRED\u003e","video":"4298899930930297503.mp4"}
+{"uid":"4363002624978386030","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: slightly move your arm back\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf Q: immediate next step? \u003cPRED\u003eA: slightly move your arm back\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up 9- move your arm close to the cardboard box 10- move the cardboard box close to the cable 11- move your arm close to the brown box 12- pick the cardboard box 13- slightly move your arm back 14- turn to the right 15- go out of the room 16- move to the left 17- move close to the shelf 18- place the brown box in the shelf Q: next 5 steps? \u003cPRED\u003eA: 1- slightly move your arm back 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up 9- move your arm close to the cardboard box 10- move the cardboard box close to the cable 11- move your arm close to the brown box 12- pick the cardboard box 13- slightly move your arm back 14- turn to the right 15- go out of the room 16- move to the left 17- move close to the shelf 18- place the brown box in the shelf Q: immediate next step? \u003cPRED\u003eA: slightly move your arm back\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nslightly move your arm back Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: slightly move your arm back\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nslightly move your arm back Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12070343915608558101.mp4"}
+{"uid":"5393367737916794522","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the wet wipes packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the wet wipes 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":"15981541761774533066.mp4"}
+{"uid":"1457108117020322961","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the wet wipes packet\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm Q: immediate next step? \u003cPRED\u003eA: pick the wet wipes packet\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the wet wipes packet\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the wet wipes packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the wet wipes packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm Q: next 5 steps? \u003cPRED\u003eA: 1- pick the wet wipes packet 2- move back 3- move your arm towards the trolley 4- place the wipes packet in the trolley 5- move your arm up\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf Q: immediate next step? \u003cPRED\u003eA: pick the wet wipes packet\n\u003c/PRED\u003e","video":"6239188079124592503.mp4"}
+{"uid":"2180670671432462600","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf Q: immediate next step? \u003cPRED\u003eA: move your arm back\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move your arm back\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove your arm back Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move your arm back\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up 9- move your arm close to the cardboard box 10- move the cardboard box close to the cable 11- move your arm close to the brown box 12- pick the cardboard box 13- slightly move your arm back 14- turn to the right 15- go out of the room 16- move to the left 17- move close to the shelf 18- place the brown box in the shelf Q: next 5 steps? \u003cPRED\u003eA: 1- move your arm back 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up 9- move your arm close to the cardboard box 10- move the cardboard box close to the cable 11- move your arm close to the brown box 12- pick the cardboard box 13- slightly move your arm back 14- turn to the right 15- go out of the room 16- move to the left 17- move close to the shelf 18- place the brown box in the shelf Q: immediate next step? \u003cPRED\u003eA: move your arm back\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove your arm back Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9841043416741446285.mp4"}
+{"uid":"11047336027485759816","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16766211175824839855.mp4"}
+{"uid":"11761360359589814731","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: garb the brown box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ngarb the brown box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2062759324377229601.mp4"}
+{"uid":"16504724148891176373","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move to the left\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove 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":"1751150560473497195.mp4"}
+{"uid":"3908979644000157841","text":"\u003ctask:success:discrete:True\u003e\nplace the wet wipes packet in the trolley Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the wet wipes packet in the trolley\n\u003c/PRED\u003e","video":"3613438185481819532.mp4"}
+{"uid":"15932386991762916062","text":"\u003ctask:success:discrete:True\u003e\ngo 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: go out of the room\n\u003c/PRED\u003e","video":"12855619657684455921.mp4"}
+{"uid":"12417511141484729559","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ngrab a 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\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5332882338682626883.mp4"}
+{"uid":"10736778376852267443","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the orange candy in the paper bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4928929964908850256.mp4"}
+{"uid":"12506844338424305749","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":"853394654281185777.mp4"}
+{"uid":"16845928558577477283","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the brown sugar packet in the box tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2743269096050166688.mp4"}
+{"uid":"4357824117959830721","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the jelly 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":"6299265002909703168.mp4"}
+{"uid":"5828615126078862807","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nmove close to the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move close to the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move close to the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up Q: immediate next step? \u003cPRED\u003eA: move close to the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up Q: next 5 steps? \u003cPRED\u003eA: 1- move close to the table 2- move the cardboard box close to the cable 3- move your arm close to the brown box 4- pick the cardboard box 5- slightly move your arm back\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf Q: immediate next step? \u003cPRED\u003eA: move close to the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove close to the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1622497766444499175.mp4"}
+{"uid":"11822380117828837103","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move close to the shelf\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up 9- move your arm close to the cardboard box 10- move the cardboard box close to the cable 11- move your arm close to the brown box 12- pick the cardboard box 13- slightly move your arm back 14- turn to the right 15- go out of the room Q: next 5 steps? \u003cPRED\u003eA: 1- move close to the shelf 2- place the brown box in the shelf 3- slightly move your arm back 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove close to the shelf Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move close to the shelf\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up 9- move your arm close to the cardboard box 10- move the cardboard box close to the cable 11- move your arm close to the brown box 12- pick the cardboard box 13- slightly move your arm back 14- turn to the right 15- go out of the room Q: immediate next step? \u003cPRED\u003eA: move close to the shelf\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf Q: immediate next step? \u003cPRED\u003eA: move close to the shelf\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove close to the shelf Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17223487066487883646.mp4"}
+{"uid":"2781320330440564561","text":"\u003ctask:success:discrete:True\u003e\nmove close 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 close to the table\n\u003c/PRED\u003e","video":"3404594310636426132.mp4"}
+{"uid":"8397363377312782840","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the wet wipes packet from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the wet wipes packet from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the wet wipes packet from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the wet wipes packet from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf Q: immediate next step? \u003cPRED\u003eA: pick the wet wipes packet from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick the wet wipes packet from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick the wet wipes packet from the table 2- place the wipes packet on the table 3- pick up the wet wipes packet 4- move back 5- move your arm towards the trolley\n\u003c/PRED\u003e","video":"18410207296129132487.mp4"}
+{"uid":"1549054693750244368","text":"\u003ctask:success:discrete:False\u003e\nslightly move your arm back Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nslightly move your arm back Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf Q: immediate next step? \u003cPRED\u003eA: slightly move your arm back\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up 9- move your arm close to the cardboard box 10- move the cardboard box close to the cable 11- move your arm close to the brown box Q: next 5 steps? \u003cPRED\u003eA: 1- slightly move your arm back 2- go out of the room 3- move to the left 4- move close to the shelf 5- place the brown box in the shelf\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: slightly move your arm back\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: slightly move your arm back\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up 9- move your arm close to the cardboard box 10- move the cardboard box close to the cable 11- move your arm close to the brown box Q: immediate next step? \u003cPRED\u003eA: slightly move your arm back\n\u003c/PRED\u003e","video":"16159714555342436543.mp4"}
+{"uid":"15806702233385930556","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up 9- move your arm close to the cardboard box 10- move the cardboard box close to the cable 11- move your arm close to the brown box 12- pick the cardboard box 13- slightly move your arm back 14- turn to the right 15- go out of the room 16- move to the left 17- move close to the shelf Q: next 5 steps? \u003cPRED\u003eA: 1- place the brown box in the shelf 2- slightly move your arm back 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the brown box in the shelf Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the brown box in the shelf\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf Q: immediate next step? \u003cPRED\u003eA: place the brown box in the shelf\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the brown box in the shelf\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up 9- move your arm close to the cardboard box 10- move the cardboard box close to the cable 11- move your arm close to the brown box 12- pick the cardboard box 13- slightly move your arm back 14- turn to the right 15- go out of the room 16- move to the left 17- move close to the shelf Q: immediate next step? \u003cPRED\u003eA: place the brown box in the shelf\n\u003c/PRED\u003e","video":"18146188257119724719.mp4"}
+{"uid":"12516093160856011128","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the pistachio in a cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2491405292562313158.mp4"}
+{"uid":"15592091073826471629","text":"\u003ctask:success:discrete:True\u003e\nmove the brown box close to the blue cable Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 brown box close to the blue cable\n\u003c/PRED\u003e","video":"6225157373504060329.mp4"}
+{"uid":"7372441579785424134","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up 9- move your arm close to the cardboard box 10- move the cardboard box close to the cable Q: next 5 steps? \u003cPRED\u003eA: 1- move your arm close to the brown box 2- pick the cardboard box 3- slightly move your arm back 4- turn to the right 5- go out of the room\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: garb the brown box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move your arm close to the brown box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngarb the brown box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf Q: immediate next step? \u003cPRED\u003eA: move your arm close to the brown box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove your arm close to the brown box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up 9- move your arm close to the cardboard box 10- move the cardboard box close to the cable Q: immediate next step? \u003cPRED\u003eA: move your arm close to the brown box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move your arm close to the brown box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngarb the brown box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: garb the brown box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up 9- move your arm close to the cardboard box 10- move the cardboard box close to the cable Q: immediate next step? \u003cPRED\u003eA: garb the brown box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf Q: immediate next step? \u003cPRED\u003eA: garb the brown box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up 9- move your arm close to the cardboard box 10- move the cardboard box close to the cable Q: next 5 steps? \u003cPRED\u003eA: 1- garb the brown box 2- pick the cardboard box 3- slightly move your arm back 4- turn to the right 5- go out of the room\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove your arm close to the brown box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13215803201093117557.mp4"}
+{"uid":"9340248719627614956","text":"\u003ctask:success:discrete:True\u003e\nmove your arm close to the brown box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move your arm close to the brown box\n\u003c/PRED\u003e","video":"18329545789431152533.mp4"}
+{"uid":"12599707977043205704","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the note pad in the middle 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":"11158308995118279499.mp4"}
+{"uid":"13054576672530884315","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the wipes 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 wet wipes packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf Q: immediate next step? \u003cPRED\u003eA: place the wet wipes packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm Q: immediate next step? \u003cPRED\u003eA: place the wet wipes packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm Q: next 5 steps? \u003cPRED\u003eA: 1- place the wet wipes packet on the table 2- move back 3- move your arm towards the trolley 4- place the wipes packet in the trolley 5- move your arm up\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf Q: immediate next step? \u003cPRED\u003eA: place the wipes packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the wipes packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the wipes packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the wet wipes packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm Q: immediate next step? \u003cPRED\u003eA: place the wipes packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the wet wipes 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 wipes 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: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm Q: next 5 steps? \u003cPRED\u003eA: 1- place the wipes packet on the table 2- move back 3- move your arm towards the trolley 4- place the wipes packet in the trolley 5- move your arm up\n\u003c/PRED\u003e","video":"549051711175734831.mp4"}
+{"uid":"9311260792149540454","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":"9657104478895153014.mp4"}
+{"uid":"519782304572786731","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the wet wipes packet in the trolley\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the wet wipes packet in the trolley Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley Q: next 5 steps? \u003cPRED\u003eA: 1- place the wet wipes packet in the trolley 2- move your arm close to the cardboard box 3- move the cardboard box close to the cable 4- move your arm close to the brown box 5- pick the cardboard box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley Q: immediate next step? \u003cPRED\u003eA: place the wet wipes packet in the trolley\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf Q: immediate next step? \u003cPRED\u003eA: place the wet wipes packet in the trolley\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the wet wipes packet in the trolley\n\u003c/PRED\u003e","video":"415175256458096632.mp4"}
+{"uid":"4037198532932784833","text":"\u003ctask:success:discrete:False\u003e\nmove to the left Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove 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:planning:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf Q: immediate next step? \u003cPRED\u003eA: move to the left\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up 9- move your arm close to the cardboard box 10- move the cardboard box close to the cable 11- move your arm close to the brown box 12- pick the cardboard box 13- slightly move your arm back 14- turn to the right Q: next 5 steps? \u003cPRED\u003eA: 1- move to the left 2- move close to the shelf 3- place the brown box in the shelf 4- slightly move your arm back 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move to the left\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move to the left\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up 9- move your arm close to the cardboard box 10- move the cardboard box close to the cable 11- move your arm close to the brown box 12- pick the cardboard box 13- slightly move your arm back 14- turn to the right Q: immediate next step? \u003cPRED\u003eA: move to the left\n\u003c/PRED\u003e","video":"18396012796294250126.mp4"}
+{"uid":"1624568205806397238","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput chocolate 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":"5656537326877955620.mp4"}
+{"uid":"9694455576995957875","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the sticky notes in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6264175511305492332.mp4"}
+{"uid":"7911714609737732054","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose the top drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"42604988857731361.mp4"}
+{"uid":"16141338742998413232","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the brown box from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the brown box from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12552758274355869899.mp4"}
+{"uid":"7334488029168760349","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the fork in the fork holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the orange in the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14485083916129452896.mp4"}
+{"uid":"10457700748796732830","text":"\u003ctask:success:discrete:True\u003e\nmove close to the trolley Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move close to the trolley\n\u003c/PRED\u003e","video":"1924891274273317199.mp4"}
+{"uid":"5669984543127843889","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput black packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1959883841556779941.mp4"}
+{"uid":"17859974965845030756","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the fifteen numbered ball in the billiard triangle 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":"5263747291848146319.mp4"}
+{"uid":"17198441615856810005","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm Q: immediate next step? \u003cPRED\u003eA: grasp the wipes packet\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the wet wipes packet 2- move your arm towards the trolley 3- place the wipes packet in the trolley 4- move your arm up 5- move your arm close to the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: grasp the wipes packet\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the wet wipes packet\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf Q: immediate next step? \u003cPRED\u003eA: grasp the wipes packet\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngrasp the wipes packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm Q: next 5 steps? \u003cPRED\u003eA: 1- grasp the wipes packet 2- move back 3- move your arm towards the trolley 4- place the wipes packet in the trolley 5- move your arm up\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf Q: immediate next step? \u003cPRED\u003eA: pick up the wet wipes packet\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the wet wipes packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: grasp the wipes packet\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the wet wipes packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the wet wipes packet\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm Q: immediate next step? \u003cPRED\u003eA: pick up the wet wipes packet\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngrasp the wipes packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5543398386291340316.mp4"}
+{"uid":"10203242870537295347","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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move to the left\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move to the left\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up 9- move your arm close to the cardboard box 10- move the cardboard box close to the cable 11- move your arm close to the brown box 12- pick the cardboard box 13- slightly move your arm back 14- turn to the right Q: next 5 steps? \u003cPRED\u003eA: 1- move to the left 2- place the brown box in the shelf 3- slightly move your arm back 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up 9- move your arm close to the cardboard box 10- move the cardboard box close to the cable 11- move your arm close to the brown box 12- pick the cardboard box 13- slightly move your arm back 14- turn to the right Q: immediate next step? \u003cPRED\u003eA: move to the left\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf Q: immediate next step? \u003cPRED\u003eA: move to the left\n\u003c/PRED\u003e","video":"15163781014588685127.mp4"}
+{"uid":"1242652387376220314","text":"\u003ctask:success:discrete:True\u003e\nmove 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: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\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move to the right\n\u003c/PRED\u003e","video":"9455511792916382677.mp4"}
+{"uid":"185580299322324200","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: turn to the right\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet Q: next 5 steps? \u003cPRED\u003eA: 1- turn to the right 2- place the wipes packet in the trolley 3- move your arm up 4- move your arm close to the cardboard box 5- move the cardboard box close to the cable\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nturn 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:planning:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf Q: immediate next step? \u003cPRED\u003eA: turn to the right\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet Q: immediate next step? \u003cPRED\u003eA: turn to the right\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nturn 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: turn to the right\n\u003c/PRED\u003e","video":"11823914976079000224.mp4"}
+{"uid":"8485211296043190978","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- move back 2- place the wipes packet in the trolley 3- move your arm up 4- move your arm close to the cardboard box 5- move the cardboard box close to the cable\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf Q: immediate next step? \u003cPRED\u003eA: move back\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table Q: immediate next step? \u003cPRED\u003eA: move back\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove back Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move back\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove back Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move back\n\u003c/PRED\u003e","video":"683670278435716448.mp4"}
+{"uid":"12349745213618405150","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: lift your arm\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: lift your arm\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley Q: next 5 steps? \u003cPRED\u003eA: 1- lift your arm 2- move your arm close to the cardboard box 3- move the cardboard box close to the cable 4- move your arm close to the brown box 5- pick the cardboard box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley Q: immediate next step? \u003cPRED\u003eA: lift your arm\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf Q: immediate next step? \u003cPRED\u003eA: lift your arm\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nlift your arm Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nlift your arm Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1546620504389513035.mp4"}
+{"uid":"3937454492008332759","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nrelease the right potted plant Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9367239294242740972.mp4"}
+{"uid":"5434430075753929431","text":"\u003ctask:success:discrete:False\u003e\nmove close to the shelf Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move close to the shelf\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move close to the shelf\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf Q: immediate next step? \u003cPRED\u003eA: move close to the shelf\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove close to the shelf Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up 9- move your arm close to the cardboard box 10- move the cardboard box close to the cable 11- move your arm close to the brown box 12- pick the cardboard box 13- slightly move your arm back 14- turn to the right 15- go out of the room Q: immediate next step? \u003cPRED\u003eA: move close to the shelf\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up 9- move your arm close to the cardboard box 10- move the cardboard box close to the cable 11- move your arm close to the brown box 12- pick the cardboard box 13- slightly move your arm back 14- turn to the right 15- go out of the room Q: next 5 steps? \u003cPRED\u003eA: 1- move close to the shelf 2- place the brown box in the shelf 3- slightly move your arm back 4- done\n\u003c/PRED\u003e","video":"10698761726810772831.mp4"}
+{"uid":"14870254722835510290","text":"\u003ctask:success:discrete:True\u003e\nmove back Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move back\n\u003c/PRED\u003e","video":"16263061407526611423.mp4"}
+{"uid":"6157143150917686685","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf Q: immediate next step? \u003cPRED\u003eA: move towards the trolley\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move towards the trolley\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet Q: next 5 steps? \u003cPRED\u003eA: 1- move towards the trolley 2- place the wipes packet in the trolley 3- move your arm up 4- move your arm close to the cardboard box 5- move the cardboard box close to the cable\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet Q: immediate next step? \u003cPRED\u003eA: move towards the trolley\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove towards the trolley Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move towards the trolley\n\u003c/PRED\u003e","video":"6595223793691874165.mp4"}
+{"uid":"18193816882293060096","text":"\u003ctask:success:discrete:True\u003e\nmove your arm close to the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move your arm close to the cardboard box\n\u003c/PRED\u003e","video":"14939701296382108708.mp4"}
+{"uid":"9501395750163638332","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":"164340608839922296.mp4"}
+{"uid":"11497164441294603265","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8743290359600699323.mp4"}
+{"uid":"1615671749364003846","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: grab the brown box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ngrab the brown box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12116819742258261449.mp4"}
+{"uid":"7238786121704015405","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the clip 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":"3441529980611656762.mp4"}
+{"uid":"3572313914193553482","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"12151721160670565870.mp4"}
+{"uid":"8099197356653331684","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the cap Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16655644080466047129.mp4"}
+{"uid":"10562857835125482875","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the plastic knife 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":"4747936037521012036.mp4"}
+{"uid":"16621004857072914472","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back Q: next 5 steps? \u003cPRED\u003eA: 1- place the wipes packet in the trolley 2- move your arm close to the cardboard box 3- move the cardboard box close to the cable 4- move your arm close to the brown box 5- pick the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the wipes packet in the trolley\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the wipes packet in the trolley Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the wipes packet in the trolley Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the wipes packet in the trolley\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back Q: immediate next step? \u003cPRED\u003eA: place the wipes packet in the trolley\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf Q: immediate next step? \u003cPRED\u003eA: place the wipes packet in the trolley\n\u003c/PRED\u003e","video":"7765992130096792215.mp4"}
+{"uid":"6828433432074234013","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":"10293029737159812996.mp4"}
+{"uid":"11415739435237151497","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the fork in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6065412626069211283.mp4"}
+{"uid":"14202658648989870269","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the brown box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the brown box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2602799873897792370.mp4"}
+{"uid":"812150970375247010","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back Q: immediate next step? \u003cPRED\u003eA: move close to the trolley\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove close to the trolley Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf Q: immediate next step? \u003cPRED\u003eA: move close to the trolley\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move close to the trolley\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move close to the trolley\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove close to the trolley Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back Q: next 5 steps? \u003cPRED\u003eA: 1- move close to the trolley 2- move your arm up 3- move your arm close to the cardboard box 4- move the cardboard box close to the cable 5- move your arm close to the brown box\n\u003c/PRED\u003e","video":"12008165351407504650.mp4"}
+{"uid":"16036883420834455060","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":"15005737915648275030.mp4"}
+{"uid":"1875102568328914047","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back Q: next 5 steps? \u003cPRED\u003eA: 1- move towards the trolley 2- move your arm up 3- move your arm close to the cardboard box 4- move the cardboard box close to the cable 5- move your arm close to the brown box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move towards the trolley\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf Q: immediate next step? \u003cPRED\u003eA: move towards the trolley\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove towards the trolley Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move towards the trolley\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back Q: immediate next step? \u003cPRED\u003eA: move towards the trolley\n\u003c/PRED\u003e","video":"1604788039053405072.mp4"}
+{"uid":"6453135394181328372","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"5369809344659012921.mp4"}
+{"uid":"17629460849499285914","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pink candy into the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16081410838505433419.mp4"}
+{"uid":"15477733847959133976","text":"\u003ctask:success:discrete:False\u003e\nmove 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\nmove 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up 9- move your arm close to the cardboard box 10- move the cardboard box close to the cable 11- move your arm close to the brown box 12- pick the cardboard box Q: immediate next step? \u003cPRED\u003eA: move to the right\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move to the right\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move to the right\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up 9- move your arm close to the cardboard box 10- move the cardboard box close to the cable 11- move your arm close to the brown box 12- pick the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- move to the right 2- go out of the room 3- move to the left 4- move close to the shelf 5- place the brown box in the shelf\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf Q: immediate next step? \u003cPRED\u003eA: move to the right\n\u003c/PRED\u003e","video":"17189426843239619543.mp4"}
+{"uid":"12350007231325690209","text":"\u003ctask:success:discrete:False\u003e\nlift up the brown box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: lift up the brown box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: lift up the brown box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up 9- move your arm close to the cardboard box 10- move the cardboard box close to the cable 11- move your arm close to the brown box Q: next 5 steps? \u003cPRED\u003eA: 1- lift up the brown box 2- go out of the room 3- move to the left 4- move close to the shelf 5- place the brown box in the shelf\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up 9- move your arm close to the cardboard box 10- move the cardboard box close to the cable 11- move your arm close to the brown box Q: immediate next step? \u003cPRED\u003eA: lift up the brown box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nlift up the brown box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf Q: immediate next step? \u003cPRED\u003eA: lift up the brown box\n\u003c/PRED\u003e","video":"9922552748039114014.mp4"}
+{"uid":"12105073150121784471","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12958779151667417927.mp4"}
+{"uid":"4767101117970169776","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":"11664651728660112721.mp4"}
+{"uid":"1286800097465929361","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the wipes packet on the trolley Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf Q: immediate next step? \u003cPRED\u003eA: place the wipes packet on the trolley\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the wipes packet on the trolley\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the wipes packet on the trolley\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley Q: immediate next step? \u003cPRED\u003eA: place the wipes packet on the trolley\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the wipes packet on the trolley Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley Q: next 5 steps? \u003cPRED\u003eA: 1- place the wipes packet on the trolley 2- move your arm close to the cardboard box 3- move the cardboard box close to the cable 4- move your arm close to the brown box 5- pick the cardboard box\n\u003c/PRED\u003e","video":"7279605820463067916.mp4"}
+{"uid":"13043585240506219338","text":"\u003ctask:success:discrete:True\u003e\nplace the brown box in the shelf Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the brown box in the shelf\n\u003c/PRED\u003e","video":"5614371025240653091.mp4"}
+{"uid":"10094563262580658580","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf Q: immediate next step? \u003cPRED\u003eA: turn to the right\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: turn to the right\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up 9- move your arm close to the cardboard box 10- move the cardboard box close to the cable 11- move your arm close to the brown box 12- pick the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- turn to the right 2- move to the left 3- move close to the shelf 4- place the brown box in the shelf 5- slightly move your arm back\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nturn 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up 9- move your arm close to the cardboard box 10- move the cardboard box close to the cable 11- move your arm close to the brown box 12- pick the cardboard box Q: immediate next step? \u003cPRED\u003eA: turn to the right\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nturn 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: turn to the right\n\u003c/PRED\u003e","video":"2538815755271183563.mp4"}
+{"uid":"16315957581786431706","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up Q: immediate next step? \u003cPRED\u003eA: move the brown box close to the blue cable\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the brown box close to the blue cable\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up Q: next 5 steps? \u003cPRED\u003eA: 1- move the brown box close to the blue cable 2- move your arm close to the brown box 3- pick the cardboard box 4- slightly move your arm back 5- turn to the right\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the brown box close to the blue cable Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf Q: immediate next step? \u003cPRED\u003eA: move the brown box close to the blue cable\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the brown box close to the blue cable\n\u003c/PRED\u003e","video":"5134637167160177280.mp4"}
+{"uid":"12990889315945761973","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue candy on the right 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":"15393449991699673105.mp4"}
+{"uid":"7805752666408644744","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the yellow duck into the big basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4765804874539296613.mp4"}
+{"uid":"14586904768376552263","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the paper chip box from 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\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":"15554223498369955564.mp4"}
+{"uid":"7362083716746690641","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop 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":"13682596522500086690.mp4"}
+{"uid":"11728867797430497840","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove to the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12726016820884625113.mp4"}
+{"uid":"14267749114946505066","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up 9- move your arm close to the cardboard box 10- move the cardboard box close to the cable 11- move your arm close to the brown box Q: immediate next step? \u003cPRED\u003eA: pick the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the cardboard box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf Q: immediate next step? \u003cPRED\u003eA: pick the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick 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: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up 9- move your arm close to the cardboard box 10- move the cardboard box close to the cable 11- move your arm close to the brown box Q: next 5 steps? \u003cPRED\u003eA: 1- pick the cardboard box 2- turn to the right 3- go out of the room 4- move to the left 5- move close to the shelf\n\u003c/PRED\u003e","video":"11690735435558478228.mp4"}
+{"uid":"1226358717108303692","text":"\u003ctask:success:discrete:False\u003e\nmove forward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up 9- move your arm close to the cardboard box 10- move the cardboard box close to the cable 11- move your arm close to the brown box 12- pick the cardboard box 13- slightly move your arm back 14- turn to the right 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up 9- move your arm close to the cardboard box 10- move the cardboard box close to the cable 11- move your arm close to the brown box 12- pick the cardboard box 13- slightly move your arm back 14- turn to the right Q: next 5 steps? \u003cPRED\u003eA: 1- move forward 2- place the brown box in the shelf 3- slightly move your arm back 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf Q: immediate next step? \u003cPRED\u003eA: move forward\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move forward\n\u003c/PRED\u003e","video":"5632486355339752297.mp4"}
+{"uid":"6329262525306087589","text":"\u003ctask:success:discrete:True\u003e\nplace the wipes packet in the trolley Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the wipes packet in the trolley\n\u003c/PRED\u003e","video":"16262842706905783225.mp4"}
+{"uid":"15643321515708170510","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: lift up the brown box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nlift up the brown box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up 9- move your arm close to the cardboard box 10- move the cardboard box close to the cable 11- move your arm close to the brown box Q: next 5 steps? \u003cPRED\u003eA: 1- lift up the brown box 2- go out of the room 3- move to the left 4- move close to the shelf 5- place the brown box in the shelf\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf Q: immediate next step? \u003cPRED\u003eA: lift up the brown box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up 9- move your arm close to the cardboard box 10- move the cardboard box close to the cable 11- move your arm close to the brown box Q: immediate next step? \u003cPRED\u003eA: lift up the brown box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nlift up the brown box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: lift up the brown box\n\u003c/PRED\u003e","video":"6106626474711137171.mp4"}
+{"uid":"14818755224082799520","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachios in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9289715081696268110.mp4"}
+{"uid":"16454760794891662405","text":"\u003ctask:success:discrete:True\u003e\nslightly lift your arm Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: slightly lift your arm\n\u003c/PRED\u003e","video":"16378222239348381718.mp4"}
+{"uid":"8853850151961601477","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the brown box close to the blue cable\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf Q: immediate next step? \u003cPRED\u003eA: move the brown box close to the blue cable\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up Q: next 5 steps? \u003cPRED\u003eA: 1- move the brown box close to the blue cable 2- move your arm close to the brown box 3- pick the cardboard box 4- slightly move your arm back 5- turn to the right\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the brown box close to the blue cable\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up Q: immediate next step? \u003cPRED\u003eA: move the brown box close to the blue cable\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the brown box close to the blue cable Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\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 brown box close to the blue cable Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17571218644779851235.mp4"}
+{"uid":"10432592195106532045","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the wet wipes 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: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet Q: immediate next step? \u003cPRED\u003eA: place the wet wipes packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet Q: next 5 steps? \u003cPRED\u003eA: 1- place the wet wipes packet on the table 2- pick up the wet wipes packet 3- move back 4- move your arm towards the trolley 5- place the wipes packet in the trolley\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf Q: immediate next step? \u003cPRED\u003eA: place the wet wipes packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the wet wipes 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 wet wipes packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the wet wipes 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":"11018032006162343106.mp4"}
+{"uid":"4721426685912354524","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the brown box in the shelf\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up 9- move your arm close to the cardboard box 10- move the cardboard box close to the cable 11- move your arm close to the brown box 12- pick the cardboard box 13- slightly move your arm back 14- turn to the right 15- go out of the room 16- move to the left 17- move close to the shelf 18- place the brown box in the shelf Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up 9- move your arm close to the cardboard box 10- move the cardboard box close to the cable 11- move your arm close to the brown box 12- pick the cardboard box 13- slightly move your arm back 14- turn to the right 15- go out of the room 16- move to the left 17- move close to the shelf 18- place the brown box in the shelf Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the brown box in the shelf Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5736526984017182731.mp4"}
+{"uid":"17650010093036383063","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley Q: next 5 steps? \u003cPRED\u003eA: 1- move your arm back 2- move your arm close to the cardboard box 3- move the cardboard box close to the cable 4- move your arm close to the brown box 5- pick the cardboard box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move your arm back\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove your arm back Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley Q: immediate next step? \u003cPRED\u003eA: move your arm back\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf Q: immediate next step? \u003cPRED\u003eA: move your arm back\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove your arm back Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move your arm back\n\u003c/PRED\u003e","video":"3091647088246389123.mp4"}
+{"uid":"14866894313401923618","text":"\u003ctask:success:discrete:True\u003e\nmove towards the trolley Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move towards the trolley\n\u003c/PRED\u003e","video":"15497740570562464773.mp4"}
+{"uid":"18048406742129761391","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up 9- move your arm close to the cardboard box 10- move the cardboard box close to the cable 11- move your arm close to the brown box 12- pick the cardboard box 13- slightly move your arm back 14- turn to the right 15- go out of the room 16- move to the left 17- move close to the shelf 18- place the brown box in the shelf Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the brown box in the shelf Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the brown box in the shelf\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up 9- move your arm close to the cardboard box 10- move the cardboard box close to the cable 11- move your arm close to the brown box 12- pick the cardboard box 13- slightly move your arm back 14- turn to the right 15- go out of the room 16- move to the left 17- move close to the shelf 18- place the brown box in the shelf Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"3941470240567340401.mp4"}
+{"uid":"8136662931845238706","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":"9858646978200051697.mp4"}
+{"uid":"10843559399853577000","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table Q: immediate next step? \u003cPRED\u003eA: slightly move your arm forward\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: slightly move your arm forward\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- slightly move your arm forward 2- move your arm towards the trolley 3- place the wipes packet in the trolley 4- move your arm up 5- move your arm close to the cardboard box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf Q: immediate next step? \u003cPRED\u003eA: slightly move your arm forward\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nslightly move your arm 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: slightly move your arm forward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nslightly move your arm forward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4538528573027960247.mp4"}
+{"uid":"706532265802847455","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the red packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2385855797664612237.mp4"}
+{"uid":"18292683426878096371","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pink candy 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":"11795170341822551188.mp4"}
+{"uid":"12135851323103216866","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the candy 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":"9229616952115918205.mp4"}
+{"uid":"990552754343818225","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the 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":"11749002431997989411.mp4"}
+{"uid":"14175821459388391321","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move close to the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove close to the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up Q: immediate next step? \u003cPRED\u003eA: move close to the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move close to the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf Q: immediate next step? \u003cPRED\u003eA: move close to the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up Q: next 5 steps? \u003cPRED\u003eA: 1- move close to the table 2- move the cardboard box close to the cable 3- move your arm close to the brown box 4- pick the cardboard box 5- slightly move your arm back\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove close to the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5147158304292563482.mp4"}
+{"uid":"2363749640286367033","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":"2495193835939486848.mp4"}
+{"uid":"8856793035705077780","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the apple 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":"5324293699348030895.mp4"}
+{"uid":"1530709918275942545","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":"15752012437240302289.mp4"}
+{"uid":"14538736300619190429","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":"11511644465354568455.mp4"}
+{"uid":"1001393671759624064","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf Q: immediate next step? \u003cPRED\u003eA: move the cardboard box close to the cable\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the cardboard box close to the cable\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the cardboard box close to the cable\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the cardboard box close to the cable Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up Q: immediate next step? \u003cPRED\u003eA: move the cardboard box close to the cable\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up Q: next 5 steps? \u003cPRED\u003eA: 1- move the cardboard box close to the cable 2- move your arm close to the brown box 3- pick the cardboard box 4- slightly move your arm back 5- turn to the right\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove the cardboard box close to the cable Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12524148035895227778.mp4"}
+{"uid":"15593207363576914","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the wet wipes packet in the trolley\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back Q: next 5 steps? \u003cPRED\u003eA: 1- place the wet wipes packet in the trolley 2- move your arm up 3- move your arm close to the cardboard box 4- move the cardboard box close to the cable 5- move your arm close to the brown box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf Q: immediate next step? \u003cPRED\u003eA: place the wet wipes packet in the trolley\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the wet wipes packet in the trolley\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the wet wipes packet in the trolley Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the wet wipes packet in the trolley Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back Q: immediate next step? \u003cPRED\u003eA: place the wet wipes packet in the trolley\n\u003c/PRED\u003e","video":"7591270141912634865.mp4"}
+{"uid":"4540080391880024704","text":"\u003ctask:success:discrete:True\u003e\nmove close to the shelf Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move close to the shelf\n\u003c/PRED\u003e","video":"6955467738541490834.mp4"}
+{"uid":"18023174130725255700","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":"1254742780793972512.mp4"}
+{"uid":"17097798471050900041","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet in the big white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10208418079867633658.mp4"}
+{"uid":"10349719424169107604","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the white glass on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13469937434994586133.mp4"}
+{"uid":"12280959078119810052","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":"10619724984116072304.mp4"}
+{"uid":"7523230218454749053","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nRelocate the white box into the white carton box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16491237900661475489.mp4"}
+{"uid":"9843851516889723704","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the brown packet in the black tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11626593495056156299.mp4"}
+{"uid":"2320578520120433230","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf Q: immediate next step? \u003cPRED\u003eA: grab the brown box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: grab the brown box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngrab the brown box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngrab the brown box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up 9- move your arm close to the cardboard box 10- move the cardboard box close to the cable 11- move your arm close to the brown box Q: next 5 steps? \u003cPRED\u003eA: 1- grab the brown box 2- slightly move your arm back 3- turn to the right 4- go out of the room 5- move to the left\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: grab the brown box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up 9- move your arm close to the cardboard box 10- move the cardboard box close to the cable 11- move your arm close to the brown box Q: immediate next step? \u003cPRED\u003eA: grab the brown box\n\u003c/PRED\u003e","video":"16849570184160819513.mp4"}
+{"uid":"17263680862999393897","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":"8340699012802545294.mp4"}
+{"uid":"18385362847284979409","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move your arm towards the trolley\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove your arm towards the trolley Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15553448327810382888.mp4"}
+{"uid":"15575538513786810360","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange candy in white tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7307892693723150982.mp4"}
+{"uid":"3340535286025609086","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":"12601787542967779616.mp4"}
+{"uid":"6665273231560769183","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move towards the trolley\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove towards the trolley Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9341523141129860806.mp4"}
+{"uid":"1480001013199685796","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the pistachio in a cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"35641732850385447.mp4"}
+{"uid":"4581476327970158081","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput white 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":"6445062430694057908.mp4"}
+{"uid":"3813827545926052416","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nfill snacks 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":"13996534747446092861.mp4"}
+{"uid":"1096485033644697851","text":"\u003ctask:success:discrete:False\u003e\nplace the wet wipes 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: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf Q: immediate next step? \u003cPRED\u003eA: place the wet wipes packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the wet wipes 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: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet Q: immediate next step? \u003cPRED\u003eA: place the wet wipes packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet Q: next 5 steps? \u003cPRED\u003eA: 1- place the wet wipes packet on the table 2- pick up the wet wipes packet 3- move back 4- move your arm towards the trolley 5- place the wipes packet in the trolley\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the wet wipes 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 wet wipes packet on the table\n\u003c/PRED\u003e","video":"16069992860818644675.mp4"}
+{"uid":"10646289810586420279","text":"\u003ctask:success:discrete:True\u003e\nmove towards the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move towards the table\n\u003c/PRED\u003e","video":"15490632690111116848.mp4"}
+{"uid":"14434950825677525211","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"5351273793883649431.mp4"}
+{"uid":"2063650412828545414","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet Q: immediate next step? \u003cPRED\u003eA: move to the right\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet Q: next 5 steps? \u003cPRED\u003eA: 1- move to the right 2- place the wipes packet in the trolley 3- move your arm up 4- move your arm close to the cardboard box 5- move the cardboard box close to the cable\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move to the right\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move to the right\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf Q: immediate next step? \u003cPRED\u003eA: move to the right\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove 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\nmove 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","video":"6620627403536704591.mp4"}
+{"uid":"9754334516176495540","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the orange object in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"582614186815564790.mp4"}
+{"uid":"8709478961377880629","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley Q: immediate next step? \u003cPRED\u003eA: place the wet wipes packet in the trolley\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the wet wipes packet in the trolley\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the wet wipes packet in the trolley Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley Q: next 5 steps? \u003cPRED\u003eA: 1- place the wet wipes packet in the trolley 2- move your arm close to the cardboard box 3- move the cardboard box close to the cable 4- move your arm close to the brown box 5- pick the cardboard box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf Q: immediate next step? \u003cPRED\u003eA: place the wet wipes packet in the trolley\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the wet wipes packet in the trolley Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the wet wipes packet in the trolley\n\u003c/PRED\u003e","video":"1250764158139052784.mp4"}
+{"uid":"9090009915701776884","text":"\u003ctask:success:discrete:True\u003e\nplace the wet wipes packet in the trolley Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the wet wipes packet in the trolley\n\u003c/PRED\u003e","video":"3986538802061690915.mp4"}
+{"uid":"13715978825427834547","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drag the brown box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrag the brown box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7584231931463553876.mp4"}
+{"uid":"6555079531885445376","text":"\u003ctask:success:discrete:False\u003e\nslightly move your arm forward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf Q: immediate next step? \u003cPRED\u003eA: slightly move your arm forward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nslightly move your arm 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: slightly move your arm forward\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table Q: immediate next step? \u003cPRED\u003eA: slightly move your arm forward\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: slightly move your arm forward\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- slightly move your arm forward 2- move your arm towards the trolley 3- place the wipes packet in the trolley 4- move your arm up 5- move your arm close to the cardboard box\n\u003c/PRED\u003e","video":"3458053545260636722.mp4"}
+{"uid":"17387182256143504656","text":"\u003ctask:success:discrete:True\u003e\npick up the wet wipes packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the wet wipes packet\n\u003c/PRED\u003e","video":"14469209566401426983.mp4"}
+{"uid":"17162235838473710387","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the brown box in the shelf Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up 9- move your arm close to the cardboard box 10- move the cardboard box close to the cable 11- move your arm close to the brown box 12- pick the cardboard box 13- slightly move your arm back 14- turn to the right 15- go out of the room 16- move to the left 17- move close to the shelf Q: immediate next step? \u003cPRED\u003eA: place the brown box in the shelf\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the brown box in the shelf\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf Q: immediate next step? \u003cPRED\u003eA: place the brown box in the shelf\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the brown box in the shelf\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up 9- move your arm close to the cardboard box 10- move the cardboard box close to the cable 11- move your arm close to the brown box 12- pick the cardboard box 13- slightly move your arm back 14- turn to the right 15- go out of the room 16- move to the left 17- move close to the shelf Q: next 5 steps? \u003cPRED\u003eA: 1- place the brown box in the shelf 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the brown box in the shelf\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up 9- move your arm close to the cardboard box 10- move the cardboard box close to the cable 11- move your arm close to the brown box 12- pick the cardboard box 13- slightly move your arm back 14- turn to the right 15- go out of the room 16- move to the left 17- move close to the shelf Q: immediate next step? \u003cPRED\u003eA: place the brown box in the shelf\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf Q: immediate next step? \u003cPRED\u003eA: place the brown box in the shelf\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the brown box in the shelf Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up 9- move your arm close to the cardboard box 10- move the cardboard box close to the cable 11- move your arm close to the brown box 12- pick the cardboard box 13- slightly move your arm back 14- turn to the right 15- go out of the room 16- move to the left 17- move close to the shelf Q: next 5 steps? \u003cPRED\u003eA: 1- place the brown box in the shelf 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the brown box in the shelf\n\u003c/PRED\u003e","video":"11838319653496655516.mp4"}
+{"uid":"18237841149485687405","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nOrganize the fruits 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":"709603107958003820.mp4"}
+{"uid":"1319485961172270494","text":"\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\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move forward\n\u003c/PRED\u003e","video":"447792750373489431.mp4"}
+{"uid":"9160013973919584179","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move the brown box close to the blue cable\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove the brown box close to the blue cable Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1096854408214367730.mp4"}
+{"uid":"9731596652933841104","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":"12456211908512381549.mp4"}
+{"uid":"3355086312281381890","text":"\u003ctask:success:discrete:True\u003e\nmove your arm close to the brown box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move your arm close to the brown box\n\u003c/PRED\u003e","video":"8865620795692868800.mp4"}
+{"uid":"9598628439967665682","text":"\u003ctask:success:discrete:True\u003e\nmove close to the shelf Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move close to the shelf\n\u003c/PRED\u003e","video":"8909148528973398458.mp4"}
+{"uid":"14890636969005809532","text":"\u003ctask:success:discrete:True\u003e\nmove towards the trolley Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move towards the trolley\n\u003c/PRED\u003e","video":"9503642780897468856.mp4"}
+{"uid":"3484144368324434456","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: grab the brown box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf Q: immediate next step? \u003cPRED\u003eA: grab the brown box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngrab the brown box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up 9- move your arm close to the cardboard box 10- move the cardboard box close to the cable 11- move your arm close to the brown box Q: immediate next step? \u003cPRED\u003eA: grab the brown box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: grab the brown box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up 9- move your arm close to the cardboard box 10- move the cardboard box close to the cable 11- move your arm close to the brown box Q: next 5 steps? \u003cPRED\u003eA: 1- grab the brown box 2- slightly move your arm back 3- turn to the right 4- go out of the room 5- move to the left\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngrab the brown box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15138214587034067952.mp4"}
+{"uid":"4980334493278914664","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up Q: immediate next step? \u003cPRED\u003eA: move the brown box close to the blue cable\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up Q: next 5 steps? \u003cPRED\u003eA: 1- move the brown box close to the blue cable 2- move your arm close to the brown box 3- pick the cardboard box 4- slightly move your arm back 5- turn to the right\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the brown box close to the blue cable\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the brown box close to the blue cable\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the brown box close to the blue cable Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf Q: immediate next step? \u003cPRED\u003eA: move the brown box close to the blue cable\n\u003c/PRED\u003e","video":"10144215256695318373.mp4"}
+{"uid":"11559170135517110196","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick the wet wipes packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm Q: next 5 steps? \u003cPRED\u003eA: 1- pick the wet wipes packet 2- move back 3- move your arm towards the trolley 4- place the wipes packet in the trolley 5- move your arm up\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf Q: immediate next step? \u003cPRED\u003eA: pick the wet wipes packet\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the wet wipes packet\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the wet wipes packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm Q: immediate next step? \u003cPRED\u003eA: pick the wet wipes packet\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the wet wipes packet\n\u003c/PRED\u003e","video":"12100838041582321347.mp4"}
+{"uid":"5569366977958542125","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput white 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":"7846797697688527210.mp4"}
+{"uid":"2839923431090017996","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move out of the room\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up 9- move your arm close to the cardboard box 10- move the cardboard box close to the cable 11- move your arm close to the brown box 12- pick the cardboard box 13- slightly move your arm back Q: immediate next step? \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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up 9- move your arm close to the cardboard box 10- move the cardboard box close to the cable 11- move your arm close to the brown box 12- pick the cardboard box 13- slightly move your arm back Q: next 5 steps? \u003cPRED\u003eA: 1- move out of the room 2- move close to the shelf 3- place the brown box in the shelf 4- slightly move your arm back 5- done\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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move out of the room\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf Q: immediate next step? \u003cPRED\u003eA: move out of the room\n\u003c/PRED\u003e","video":"17914925227520265157.mp4"}
+{"uid":"1208227992399440552","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up 9- move your arm close to the cardboard box Q: immediate next step? \u003cPRED\u003eA: move back\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up 9- move your arm close to the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- move back 2- move your arm close to the brown box 3- pick the cardboard box 4- slightly move your arm back 5- turn to the right\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move back\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf Q: immediate next step? \u003cPRED\u003eA: move back\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove back Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove back Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move back\n\u003c/PRED\u003e","video":"1587389578425394228.mp4"}
+{"uid":"2050732961092008618","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput glass 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":"633058148959117845.mp4"}
+{"uid":"6578327006185014465","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the seaweed packet from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6607304468325485158.mp4"}
+{"uid":"9041629648574280240","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move towards the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove towards the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf Q: immediate next step? \u003cPRED\u003eA: move towards the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up Q: next 5 steps? \u003cPRED\u003eA: 1- move towards the table 2- move the cardboard box close to the cable 3- move your arm close to the brown box 4- pick the cardboard box 5- slightly move your arm back\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove towards the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up Q: immediate next step? \u003cPRED\u003eA: move towards the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move towards the table\n\u003c/PRED\u003e","video":"2088864887941527823.mp4"}
+{"uid":"2970567613698102033","text":"\u003ctask:success:discrete:True\u003e\nmove to the left Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move to the left\n\u003c/PRED\u003e","video":"12691621660345366240.mp4"}
+{"uid":"4954736564491880232","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up 9- move your arm close to the cardboard box 10- move the cardboard box close to the cable 11- move your arm close to the brown box 12- pick the cardboard box 13- slightly move your arm back 14- turn to the right 15- go out of the room 16- move to the left 17- move close to the shelf Q: immediate next step? \u003cPRED\u003eA: place the cardboard box in the middle shelf\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up 9- move your arm close to the cardboard box 10- move the cardboard box close to the cable 11- move your arm close to the brown box 12- pick the cardboard box 13- slightly move your arm back 14- turn to the right 15- go out of the room 16- move to the left 17- move close to the shelf Q: next 5 steps? \u003cPRED\u003eA: 1- place the cardboard box in the middle shelf 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the cardboard box in the middle shelf\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf Q: immediate next step? \u003cPRED\u003eA: place the cardboard box in the middle shelf\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the cardboard box in the middle shelf Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the cardboard box in the middle shelf Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the cardboard box in the middle shelf\n\u003c/PRED\u003e","video":"17045085358711214703.mp4"}
+{"uid":"10041900428920672644","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGrab the  cable Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8382690937000661591.mp4"}
+{"uid":"17228368355097031104","text":"\u003ctask:success:discrete:True\u003e\nplace the wet wipes packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the wet wipes packet on the table\n\u003c/PRED\u003e","video":"8193514187732861843.mp4"}
+{"uid":"9911462370294947824","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":"3815997206960755174.mp4"}
+{"uid":"6674345838001683299","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the wipes packet on the trolley\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the wipes packet on the trolley Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1471458654257676902.mp4"}
+{"uid":"5466663702127624256","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":"6468245944642550415.mp4"}
+{"uid":"2158746237592521164","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the brown box in the shelf\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf Q: immediate next step? \u003cPRED\u003eA: place the brown box in the shelf\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up 9- move your arm close to the cardboard box 10- move the cardboard box close to the cable 11- move your arm close to the brown box 12- pick the cardboard box 13- slightly move your arm back 14- turn to the right 15- go out of the room 16- move to the left 17- move close to the shelf Q: next 5 steps? \u003cPRED\u003eA: 1- place the brown box in the shelf 2- slightly move your arm back 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the brown box in the shelf Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the brown box in the shelf Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the brown box in the shelf\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up 9- move your arm close to the cardboard box 10- move the cardboard box close to the cable 11- move your arm close to the brown box 12- pick the cardboard box 13- slightly move your arm back 14- turn to the right 15- go out of the room 16- move to the left 17- move close to the shelf Q: immediate next step? \u003cPRED\u003eA: place the brown box in the shelf\n\u003c/PRED\u003e","video":"12956500524122099597.mp4"}
+{"uid":"14782166032425662992","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move your arm towards the trolley\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove your arm towards the trolley Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf Q: immediate next step? \u003cPRED\u003eA: move your arm towards the trolley\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet Q: immediate next step? \u003cPRED\u003eA: move your arm towards the trolley\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet Q: next 5 steps? \u003cPRED\u003eA: 1- move your arm towards the trolley 2- move your arm up 3- move your arm close to the cardboard box 4- move the cardboard box close to the cable 5- move your arm close to the brown box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move your arm towards the trolley\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove your arm towards the trolley Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2497462282419495638.mp4"}
+{"uid":"11949382051320599988","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move close to the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove close 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":"10512342546317726007.mp4"}
+{"uid":"14514551747488350619","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the wet wipes packet in the trolley\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the wet wipes packet in the trolley Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2894750258866096038.mp4"}
+{"uid":"12108743823027099075","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up 9- move your arm close to the cardboard box 10- move the cardboard box close to the cable 11- move your arm close to the brown box 12- pick the cardboard box 13- slightly move your arm back 14- turn to the right 15- go out of the room 16- move to the left Q: next 5 steps? \u003cPRED\u003eA: 1- move close to the middle shelf 2- slightly move your arm back 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove close to the middle shelf Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move close to the middle shelf\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf. last 20 steps: 1- pick the wipes packet 2- slightly lift your arm 3- place the wipes packet on the table 4- pick up the wet wipes packet 5- move back 6- move your arm towards the trolley 7- place the wipes packet in the trolley 8- move your arm up 9- move your arm close to the cardboard box 10- move the cardboard box close to the cable 11- move your arm close to the brown box 12- pick the cardboard box 13- slightly move your arm back 14- turn to the right 15- go out of the room 16- move to the left Q: immediate next step? \u003cPRED\u003eA: move close to the middle shelf\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move close to the middle shelf\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove close to the middle shelf Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the pack of wipes to the cart, then return the usb c charger box to the bookshelf Q: immediate next step? \u003cPRED\u003eA: move close to the middle shelf\n\u003c/PRED\u003e","video":"2296792731444452921.mp4"}
+{"uid":"14322454073431608915","text":"\u003ctask:success:discrete:True\u003e\npick the wet wipes packet from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the wet wipes packet from the table\n\u003c/PRED\u003e","video":"15093219424757873427.mp4"}
+{"uid":"7110937198391726772","text":"\u003ctask:success:discrete:True\u003e\nmove your arm close to the bottle Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move your arm close to the bottle\n\u003c/PRED\u003e","video":"14358588152132093048.mp4"}
+{"uid":"16372342951262005515","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: slightly move back\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nslightly move back Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7715478638202857458.mp4"}
+{"uid":"80132420905939189","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":"11337170072546397283.mp4"}
+{"uid":"6691278206737411714","text":"\u003ctask:success:discrete:False\u003e\nstack the plate Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 plate\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the plates on top of each other. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- stack the plate 2- stack the plate 3- stack the plate 4- stack the plate 5- stack the plates\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the plates on top of each other Q: immediate next step? \u003cPRED\u003eA: stack the plate\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the plate\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the plate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the plates on top of each other. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: stack the plate\n\u003c/PRED\u003e","video":"16515074242559958927.mp4"}
+{"uid":"1581261378606460725","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick candy 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":"15805127529036756470.mp4"}
+{"uid":"5473417498122172341","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: slightly move your arm to the left\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: slightly move your arm to the left\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw the water bottle into the cans and bottles recycling bin. last 20 steps: 1- Drop the water bottle on the floor 2- move your arm towards the bottle on the floor 3- pick up the bottle 4- slightly move your arm upwards Q: next 5 steps? \u003cPRED\u003eA: 1- slightly move your arm to the left 2- move close to the bin 3- Drop the water bottle into the trash bin 4- move your arm back 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw the water bottle into the cans and bottles recycling bin Q: immediate next step? \u003cPRED\u003eA: slightly move your arm to the left\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nslightly move your arm 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: throw the water bottle into the cans and bottles recycling bin. last 20 steps: 1- Drop the water bottle on the floor 2- move your arm towards the bottle on the floor 3- pick up the bottle 4- slightly move your arm upwards Q: immediate next step? \u003cPRED\u003eA: slightly move your arm to the left\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nslightly move your arm 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","video":"3190720315547378922.mp4"}
+{"uid":"898603217654105122","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nslightly turn 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: slightly turn to the left\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw the water bottle into the cans and bottles recycling bin Q: immediate next step? \u003cPRED\u003eA: slightly turn to the left\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nslightly turn 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: slightly turn to the left\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw the water bottle into the cans and bottles recycling bin. last 20 steps: 1- Drop the water bottle on the floor 2- move your arm towards the bottle on the floor 3- pick up the bottle 4- slightly move your arm upwards Q: next 5 steps? \u003cPRED\u003eA: 1- slightly turn to the left 2- move close to the bin 3- Drop the water bottle into the trash bin 4- move your arm back 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw the water bottle into the cans and bottles recycling bin. last 20 steps: 1- Drop the water bottle on the floor 2- move your arm towards the bottle on the floor 3- pick up the bottle 4- slightly move your arm upwards Q: immediate next step? \u003cPRED\u003eA: slightly turn to the left\n\u003c/PRED\u003e","video":"3973157733765605315.mp4"}
+{"uid":"10526325808509290570","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the cups on the 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":"12733995010235944446.mp4"}
+{"uid":"2702311563101504070","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the chess pieces on the board Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17259130326115053126.mp4"}
+{"uid":"10799298823033340170","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose 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":"11830033299899395092.mp4"}
+{"uid":"14642589247330387135","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the plate\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the plates on top of each other. last 20 steps: 1- stack the plate 2- stack the plate Q: next 5 steps? \u003cPRED\u003eA: 1- stack the plate 2- stack the plate 3- stack the plates 4- stack the plate 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the plate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 plate\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the plates on top of each other Q: immediate next step? \u003cPRED\u003eA: stack the plate\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstack the plate Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the plates on top of each other. last 20 steps: 1- stack the plate 2- stack the plate Q: immediate next step? \u003cPRED\u003eA: stack the plate\n\u003c/PRED\u003e","video":"8375591631609176473.mp4"}
+{"uid":"6466200380364952990","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the orange in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15804453725074914202.mp4"}
+{"uid":"3067479128521473245","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: slightly move your arm forward\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw the water bottle into the cans and bottles recycling bin. last 20 steps: 1- Drop the water bottle on the floor 2- move your arm towards the bottle on the floor 3- pick up the bottle 4- slightly move your arm upwards 5- slightly turn to the left Q: next 5 steps? \u003cPRED\u003eA: 1- slightly move your arm forward 2- move your arm back 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nslightly move your arm 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\nslightly move your arm forward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw the water bottle into the cans and bottles recycling bin Q: immediate next step? \u003cPRED\u003eA: slightly move your arm forward\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw the water bottle into the cans and bottles recycling bin. last 20 steps: 1- Drop the water bottle on the floor 2- move your arm towards the bottle on the floor 3- pick up the bottle 4- slightly move your arm upwards 5- slightly turn to the left Q: immediate next step? \u003cPRED\u003eA: slightly move your arm forward\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: slightly move your arm forward\n\u003c/PRED\u003e","video":"11720194409770548386.mp4"}
+{"uid":"4724301626444380867","text":"\u003ctask:success:discrete:True\u003e\nmove to the right side recycle bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move to the right side recycle bin\n\u003c/PRED\u003e","video":"11865831796593233742.mp4"}
+{"uid":"4694045253553904171","text":"\u003ctask:success:discrete:True\u003e\nslightly move your arm 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: slightly move your arm forward\n\u003c/PRED\u003e","video":"391441413569925919.mp4"}
+{"uid":"10033629169264496229","text":"\u003ctask:success:discrete:True\u003e\npick up the bottle Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the bottle\n\u003c/PRED\u003e","video":"4436082384796316138.mp4"}
+{"uid":"16541673584222878945","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nrelease the bottle in the bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw the water bottle into the cans and bottles recycling bin Q: immediate next step? \u003cPRED\u003eA: release the bottle in the bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw the water bottle into the cans and bottles recycling bin. last 20 steps: 1- Drop the water bottle on the floor 2- move your arm towards the bottle on the floor 3- pick up the bottle 4- slightly move your arm upwards 5- slightly turn to the left 6- move close to the bin Q: immediate next step? \u003cPRED\u003eA: release the bottle in the bin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: release the bottle in the bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw the water bottle into the cans and bottles recycling bin. last 20 steps: 1- Drop the water bottle on the floor 2- move your arm towards the bottle on the floor 3- pick up the bottle 4- slightly move your arm upwards 5- slightly turn to the left 6- move close to the bin Q: next 5 steps? \u003cPRED\u003eA: 1- release the bottle in the bin 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: release the bottle in the bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nrelease the bottle in the bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7879868907819379219.mp4"}
+{"uid":"17959366147562275641","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the bottle\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the bottle Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15227692169882007846.mp4"}
+{"uid":"1519391203893831704","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the bottle in the right bin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the bottle in the right bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw the water bottle into the cans and bottles recycling bin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw the water bottle into the cans and bottles recycling bin. last 20 steps: 1- Drop the water bottle on the floor 2- move your arm towards the bottle on the floor 3- pick up the bottle 4- slightly move your arm upwards 5- slightly turn to the left 6- move close to the bin 7- drop the bottle in the right bin Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw the water bottle into the cans and bottles recycling bin. last 20 steps: 1- Drop the water bottle on the floor 2- move your arm towards the bottle on the floor 3- pick up the bottle 4- slightly move your arm upwards 5- slightly turn to the left 6- move close to the bin 7- drop the bottle in the right bin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"6314209050835664344.mp4"}
+{"uid":"13726628721378966100","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: grab the bottle\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw the water bottle into the cans and bottles recycling bin. last 20 steps: 1- Drop the water bottle on the floor 2- move your arm towards the bottle on the floor Q: immediate next step? \u003cPRED\u003eA: grab the bottle\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngrab the bottle Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: grab the bottle\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw the water bottle into the cans and bottles recycling bin Q: immediate next step? \u003cPRED\u003eA: grab the bottle\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw the water bottle into the cans and bottles recycling bin. last 20 steps: 1- Drop the water bottle on the floor 2- move your arm towards the bottle on the floor Q: next 5 steps? \u003cPRED\u003eA: 1- grab the bottle 2- slightly move your arm upwards 3- slightly turn to the left 4- move close to the bin 5- Drop the water bottle into the trash bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngrab the bottle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6414716169414487939.mp4"}
+{"uid":"10604795677841091588","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the bottle in the bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw the water bottle into the cans and bottles recycling bin. last 20 steps: 1- Drop the water bottle on the floor 2- move your arm towards the bottle on the floor 3- pick up the bottle 4- slightly move your arm upwards 5- slightly turn to the left 6- move close to the bin Q: immediate next step? \u003cPRED\u003eA: drop the bottle in the bin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the bottle in the bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw the water bottle into the cans and bottles recycling bin. last 20 steps: 1- Drop the water bottle on the floor 2- move your arm towards the bottle on the floor 3- pick up the bottle 4- slightly move your arm upwards 5- slightly turn to the left 6- move close to the bin Q: next 5 steps? \u003cPRED\u003eA: 1- drop the bottle in the bin 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw the water bottle into the cans and bottles recycling bin Q: immediate next step? \u003cPRED\u003eA: drop the bottle in the bin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the bottle in the bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the bottle in the bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4341291531940854702.mp4"}
+{"uid":"17552211672589690771","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: slightly move back\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nslightly move back Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw the water bottle into the cans and bottles recycling bin. last 20 steps: 1- Drop the water bottle on the floor Q: immediate next step? \u003cPRED\u003eA: slightly move back\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: slightly move back\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw the water bottle into the cans and bottles recycling bin Q: immediate next step? \u003cPRED\u003eA: slightly move back\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nslightly move back Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw the water bottle into the cans and bottles recycling bin. last 20 steps: 1- Drop the water bottle on the floor Q: next 5 steps? \u003cPRED\u003eA: 1- slightly move back 2- pick up the bottle 3- slightly move your arm upwards 4- slightly turn to the left 5- move close to the bin\n\u003c/PRED\u003e","video":"923184716441937647.mp4"}
+{"uid":"8698810041647195295","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the marker in a container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nclose 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":"15374497752200207648.mp4"}
+{"uid":"1544357457813759486","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":"16071525929672188534.mp4"}
+{"uid":"12092059283208033766","text":"\u003ctask:success:discrete:False\u003e\nmove your arm towards the bottle on the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move your arm towards the bottle on the floor\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw the water bottle into the cans and bottles recycling bin. last 20 steps: 1- Drop the water bottle on the floor Q: immediate next step? \u003cPRED\u003eA: move your arm towards the bottle on the floor\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove your arm towards the bottle on the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move your arm towards the bottle on the floor\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw the water bottle into the cans and bottles recycling bin Q: immediate next step? \u003cPRED\u003eA: move your arm towards the bottle on the floor\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw the water bottle into the cans and bottles recycling bin. last 20 steps: 1- Drop the water bottle on the floor Q: next 5 steps? \u003cPRED\u003eA: 1- move your arm towards the bottle on the floor 2- slightly move your arm upwards 3- slightly turn to the left 4- move close to the bin 5- Drop the water bottle into the trash bin\n\u003c/PRED\u003e","video":"8043130321552906404.mp4"}
+{"uid":"5308815119894158408","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw the water bottle into the cans and bottles recycling bin. last 20 steps: 1- Drop the water bottle on the floor 2- move your arm towards the bottle on the floor 3- pick up the bottle 4- slightly move your arm upwards 5- slightly turn to the left Q: immediate next step? \u003cPRED\u003eA: move close to the bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove close to the bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove close to the bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move close to the bin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move close to the bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw the water bottle into the cans and bottles recycling bin Q: immediate next step? \u003cPRED\u003eA: move close to the bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw the water bottle into the cans and bottles recycling bin. last 20 steps: 1- Drop the water bottle on the floor 2- move your arm towards the bottle on the floor 3- pick up the bottle 4- slightly move your arm upwards 5- slightly turn to the left Q: next 5 steps? \u003cPRED\u003eA: 1- move close to the bin 2- Drop the water bottle into the trash bin 3- move your arm back 4- done\n\u003c/PRED\u003e","video":"13153817829426256881.mp4"}
+{"uid":"10381912293489739212","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick the bottle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the bottle\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw the water bottle into the cans and bottles recycling bin. last 20 steps: 1- Drop the water bottle on the floor 2- move your arm towards the bottle on the floor Q: immediate next step? \u003cPRED\u003eA: pick the bottle\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the bottle\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw the water bottle into the cans and bottles recycling bin Q: immediate next step? \u003cPRED\u003eA: pick the bottle\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the bottle Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw the water bottle into the cans and bottles recycling bin. last 20 steps: 1- Drop the water bottle on the floor 2- move your arm towards the bottle on the floor Q: next 5 steps? \u003cPRED\u003eA: 1- pick the bottle 2- slightly turn to the left 3- move close to the bin 4- Drop the water bottle into the trash bin 5- move your arm back\n\u003c/PRED\u003e","video":"777968112308515040.mp4"}
+{"uid":"1015126078001346877","text":"\u003ctask:success:discrete:False\u003e\ndrop the bottle in the bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the bottle in the bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw the water bottle into the cans and bottles recycling bin Q: immediate next step? \u003cPRED\u003eA: drop the bottle in the bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the bottle in the bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw the water bottle into the cans and bottles recycling bin. last 20 steps: 1- Drop the water bottle on the floor 2- move your arm towards the bottle on the floor 3- pick up the bottle 4- slightly move your arm upwards 5- slightly turn to the left 6- move close to the bin Q: next 5 steps? \u003cPRED\u003eA: 1- drop the bottle in the bin 2- move your arm back 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the bottle in the bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw the water bottle into the cans and bottles recycling bin. last 20 steps: 1- Drop the water bottle on the floor 2- move your arm towards the bottle on the floor 3- pick up the bottle 4- slightly move your arm upwards 5- slightly turn to the left 6- move close to the bin Q: immediate next step? \u003cPRED\u003eA: drop the bottle in the bin\n\u003c/PRED\u003e","video":"267952072510988242.mp4"}
+{"uid":"8630379897312053754","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the cloth bag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3397724851252157171.mp4"}
+{"uid":"14732467620073257786","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the bottle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw the water bottle into the cans and bottles recycling bin Q: immediate next step? \u003cPRED\u003eA: pick up the bottle\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw the water bottle into the cans and bottles recycling bin. last 20 steps: 1- Drop the water bottle on the floor 2- move your arm towards the bottle on the floor Q: immediate next step? \u003cPRED\u003eA: pick up the bottle\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the bottle\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw the water bottle into the cans and bottles recycling bin. last 20 steps: 1- Drop the water bottle on the floor 2- move your arm towards the bottle on the floor Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the bottle 2- slightly turn to the left 3- move close to the bin 4- Drop the water bottle into the trash bin 5- move your arm back\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the bottle\n\u003c/PRED\u003e","video":"16961630586755127580.mp4"}
+{"uid":"16361282987062565529","text":"\u003ctask:success:discrete:True\u003e\ndrop the bottle in the bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the bottle in the bin\n\u003c/PRED\u003e","video":"3693198742355485240.mp4"}
+{"uid":"2886801770077766803","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nslightly move your arm back Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: slightly move your arm back\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: slightly move your arm back\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw the water bottle into the cans and bottles recycling bin Q: immediate next step? \u003cPRED\u003eA: slightly move your arm back\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nslightly move your arm back Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw the water bottle into the cans and bottles recycling bin. last 20 steps: 1- Drop the water bottle on the floor 2- move your arm towards the bottle on the floor 3- pick up the bottle 4- slightly move your arm upwards 5- slightly turn to the left 6- move close to the bin 7- Drop the water bottle into the trash bin Q: immediate next step? \u003cPRED\u003eA: slightly move your arm back\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw the water bottle into the cans and bottles recycling bin. last 20 steps: 1- Drop the water bottle on the floor 2- move your arm towards the bottle on the floor 3- pick up the bottle 4- slightly move your arm upwards 5- slightly turn to the left 6- move close to the bin 7- Drop the water bottle into the trash bin Q: next 5 steps? \u003cPRED\u003eA: 1- slightly move your arm back 2- done\n\u003c/PRED\u003e","video":"1309859103224834731.mp4"}
+{"uid":"5454596692631276229","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":"9917698958928820297.mp4"}
+{"uid":"123826322061922846","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":"1656612214515088100.mp4"}
+{"uid":"2299841648467678630","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the bottle\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw the water bottle into the cans and bottles recycling bin. last 20 steps: 1- Drop the water bottle on the floor Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the bottle 2- slightly move your arm upwards 3- slightly turn to the left 4- move close to the bin 5- Drop the water bottle into the trash bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the bottle Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw the water bottle into the cans and bottles recycling bin. last 20 steps: 1- Drop the water bottle on the floor Q: immediate next step? \u003cPRED\u003eA: pick up the bottle\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the bottle\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw the water bottle into the cans and bottles recycling bin Q: immediate next step? \u003cPRED\u003eA: pick up the bottle\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the bottle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13987062683137674264.mp4"}
+{"uid":"16101495173047198190","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nClose the book Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5426206604294676201.mp4"}
+{"uid":"14056677102451345747","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the spoon 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":"14253045498552511037.mp4"}
+{"uid":"1769093403514266879","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the popcorn packet in the cardboard drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7248515965337476132.mp4"}
+{"uid":"5649662063747403014","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the water bottle into the trash bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw the water bottle into the cans and bottles recycling bin Q: immediate next step? \u003cPRED\u003eA: Drop the water bottle into the trash bin\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 trash bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw the water bottle into the cans and bottles recycling bin. last 20 steps: 1- Drop the water bottle on the floor 2- move your arm towards the bottle on the floor 3- pick up the bottle 4- slightly move your arm upwards 5- slightly turn to the left 6- move close to the bin Q: immediate next step? \u003cPRED\u003eA: Drop the water bottle into the trash bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the water bottle into the trash bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the water bottle into the trash bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw the water bottle into the cans and bottles recycling bin. last 20 steps: 1- Drop the water bottle on the floor 2- move your arm towards the bottle on the floor 3- pick up the bottle 4- slightly move your arm upwards 5- slightly turn to the left 6- move close to the bin Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the water bottle into the trash bin 2- move your arm back 3- done\n\u003c/PRED\u003e","video":"10829085872711305922.mp4"}
+{"uid":"3285063273193158098","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: throw the water bottle into the cans and bottles recycling bin Q: immediate next step? \u003cPRED\u003eA: move your arm close to the bottle\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove your arm close to the bottle Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw the water bottle into the cans and bottles recycling bin. last 20 steps: 1- Drop the water bottle on the floor Q: immediate next step? \u003cPRED\u003eA: move your arm close to the bottle\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move your arm close to the bottle\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw the water bottle into the cans and bottles recycling bin. last 20 steps: 1- Drop the water bottle on the floor Q: next 5 steps? \u003cPRED\u003eA: 1- move your arm close to the bottle 2- slightly move your arm upwards 3- slightly turn to the left 4- move close to the bin 5- Drop the water bottle into the trash bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove your arm close to the bottle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move your arm close to the bottle\n\u003c/PRED\u003e","video":"4591854170467892575.mp4"}
+{"uid":"1629986304389306588","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the milano dark chocolate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3471091854411594411.mp4"}
+{"uid":"1456334287495092390","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the water bottle into the trash bin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop the water bottle into the trash bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4701369594238798221.mp4"}
+{"uid":"11813191573401338291","text":"\u003ctask:success:discrete:False\u003e\nmove towards 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw the water bottle into the cans and bottles recycling bin. last 20 steps: 1- Drop the water bottle on the floor Q: immediate next step? \u003cPRED\u003eA: move towards the water bottle\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move towards the water bottle\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move towards the water bottle\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove towards 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:planning:freeform\u003e\ncurrent goal is: throw the water bottle into the cans and bottles recycling bin Q: immediate next step? \u003cPRED\u003eA: move towards the water bottle\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw the water bottle into the cans and bottles recycling bin. last 20 steps: 1- Drop the water bottle on the floor Q: next 5 steps? \u003cPRED\u003eA: 1- move towards the water bottle 2- slightly move your arm upwards 3- slightly turn to the left 4- move close to the bin 5- Drop the water bottle into the trash bin\n\u003c/PRED\u003e","video":"2537174533377792314.mp4"}
+{"uid":"6614855648998819254","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move towards the water bottle\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove towards 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":"13260738063657197954.mp4"}
+{"uid":"6029514595396916162","text":"\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","video":"11171299258104173993.mp4"}
+{"uid":"7452552881690707545","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the chocolate on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13892298870509836207.mp4"}
+{"uid":"18029561386128282327","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: throw the water bottle into the cans and bottles recycling bin Q: immediate next step? \u003cPRED\u003eA: move back\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove back Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw the water bottle into the cans and bottles recycling bin. last 20 steps: 1- Drop the water bottle on the floor Q: immediate next step? \u003cPRED\u003eA: move back\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move back\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove back Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move back\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw the water bottle into the cans and bottles recycling bin. last 20 steps: 1- Drop the water bottle on the floor Q: next 5 steps? \u003cPRED\u003eA: 1- move back 2- pick up the bottle 3- slightly move your arm upwards 4- slightly turn to the left 5- move close to the bin\n\u003c/PRED\u003e","video":"11998232125335555141.mp4"}
+{"uid":"10283275268401654527","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the bottle\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw the water bottle into the cans and bottles recycling bin Q: immediate next step? \u003cPRED\u003eA: pick the bottle\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the bottle\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw the water bottle into the cans and bottles recycling bin. last 20 steps: 1- Drop the water bottle on the floor 2- move your arm towards the bottle on the floor Q: immediate next step? \u003cPRED\u003eA: pick the bottle\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the bottle Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw the water bottle into the cans and bottles recycling bin. last 20 steps: 1- Drop the water bottle on the floor 2- move your arm towards the bottle on the floor Q: next 5 steps? \u003cPRED\u003eA: 1- pick the bottle 2- slightly turn to the left 3- move close to the bin 4- Drop the water bottle into the trash bin 5- move your arm back\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the bottle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1248864579219492863.mp4"}
+{"uid":"6650066261186449150","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the bottle\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the bottle Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"187092583754622659.mp4"}
+{"uid":"9101296974077740573","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the yellow bag 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":"9267376855725997909.mp4"}
+{"uid":"13026290779083250171","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: throw the water bottle into the cans and bottles recycling bin Q: immediate next step? \u003cPRED\u003eA: slightly move your arm forward\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw the water bottle into the cans and bottles recycling bin. last 20 steps: 1- Drop the water bottle on the floor 2- move your arm towards the bottle on the floor 3- pick up the bottle 4- slightly move your arm upwards 5- slightly turn to the left Q: next 5 steps? \u003cPRED\u003eA: 1- slightly move your arm forward 2- Drop the water bottle into the trash bin 3- move your arm back 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nslightly move your arm 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: slightly move your arm forward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nslightly move your arm 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw the water bottle into the cans and bottles recycling bin. last 20 steps: 1- Drop the water bottle on the floor 2- move your arm towards the bottle on the floor 3- pick up the bottle 4- slightly move your arm upwards 5- slightly turn to the left Q: immediate next step? \u003cPRED\u003eA: slightly move your arm forward\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: slightly move your arm forward\n\u003c/PRED\u003e","video":"5260361391527615691.mp4"}
+{"uid":"18207878949029621871","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the red packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1888914323321598567.mp4"}
+{"uid":"10911433832873556783","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the plates on top of each other Q: immediate next step? \u003cPRED\u003eA: stack the plates\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the plates\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the plates Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\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 plates Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED: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 plates\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the plates on top of each other. last 20 steps: 1- stack the plate 2- stack the plate 3- stack the plate 4- stack the plate Q: next 5 steps? \u003cPRED\u003eA: 1- stack the plates 2- stack the plate 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the plates on top of each other. last 20 steps: 1- stack the plate 2- stack the plate 3- stack the plate 4- stack the plate Q: immediate next step? \u003cPRED\u003eA: stack the plates\n\u003c/PRED\u003e","video":"2490776620777811710.mp4"}
+{"uid":"2446218177553068166","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the 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":"3706880566354409731.mp4"}
+{"uid":"11760091535225762488","text":"\u003ctask:success:discrete:True\u003e\nslightly move your arm 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: slightly move your arm forward\n\u003c/PRED\u003e","video":"14024429418470858949.mp4"}
+{"uid":"5186711628528880963","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack the plate\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nstack the plate Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17801146112354083021.mp4"}
+{"uid":"7835274568375846702","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":"914622999473351244.mp4"}
+{"uid":"8068607418685689587","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw the water bottle into the cans and bottles recycling bin. last 20 steps: 1- Drop the water bottle on the floor 2- move your arm towards the bottle on the floor 3- pick up the bottle 4- slightly move your arm upwards 5- slightly turn to the left 6- move close to the bin 7- Drop the water bottle into the trash bin Q: immediate next step? \u003cPRED\u003eA: move your arm back\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw the water bottle into the cans and bottles recycling bin. last 20 steps: 1- Drop the water bottle on the floor 2- move your arm towards the bottle on the floor 3- pick up the bottle 4- slightly move your arm upwards 5- slightly turn to the left 6- move close to the bin 7- Drop the water bottle into the trash bin Q: next 5 steps? \u003cPRED\u003eA: 1- move your arm back 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move your arm back\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw the water bottle into the cans and bottles recycling bin Q: immediate next step? \u003cPRED\u003eA: move your arm back\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move your arm back\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove your arm back Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove your arm back Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2796699307689482254.mp4"}
+{"uid":"8431814431694753274","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop orange into bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2060461667340217155.mp4"}
+{"uid":"10747195700697318266","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the water bottle from the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw the water bottle into the cans and bottles recycling bin. last 20 steps: 1- Drop the water bottle on the floor 2- move your arm towards the bottle on the floor Q: immediate next step? \u003cPRED\u003eA: pick up the water bottle from the floor\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the water bottle from the floor\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the water bottle from the floor\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw the water bottle into the cans and bottles recycling bin. last 20 steps: 1- Drop the water bottle on the floor 2- move your arm towards the bottle on the floor Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the water bottle from the floor 2- slightly move your arm upwards 3- slightly turn to the left 4- move close to the bin 5- Drop the water bottle into the trash bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the water bottle 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:planning:freeform\u003e\ncurrent goal is: throw the water bottle into the cans and bottles recycling bin Q: immediate next step? \u003cPRED\u003eA: pick up the water bottle from the floor\n\u003c/PRED\u003e","video":"5212656441505764250.mp4"}
+{"uid":"3002191852673362736","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nEnter into 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":"1960835836932886644.mp4"}
+{"uid":"2259171922681587784","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput beans in 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":"10518442989407135115.mp4"}
+{"uid":"7202530246980715887","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the plates on top of each other Q: immediate next step? \u003cPRED\u003eA: stack the plate\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the plates on top of each other. last 20 steps: 1- stack the plate Q: immediate next step? \u003cPRED\u003eA: stack the plate\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the plate\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the plate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 plate\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the plates on top of each other. last 20 steps: 1- stack the plate Q: next 5 steps? \u003cPRED\u003eA: 1- stack the plate 2- stack the plate 3- stack the plate 4- stack the plates 5- stack the plate\n\u003c/PRED\u003e","video":"14011012837763653703.mp4"}
+{"uid":"2322537341226081709","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move your arm towards the bottle\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw the water bottle into the cans and bottles recycling bin. last 20 steps: 1- Drop the water bottle on the floor Q: immediate next step? \u003cPRED\u003eA: move your arm towards the bottle\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove your arm towards the bottle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw the water bottle into the cans and bottles recycling bin Q: immediate next step? \u003cPRED\u003eA: move your arm towards the bottle\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw the water bottle into the cans and bottles recycling bin. last 20 steps: 1- Drop the water bottle on the floor Q: next 5 steps? \u003cPRED\u003eA: 1- move your arm towards the bottle 2- slightly move your arm upwards 3- slightly turn to the left 4- move close to the bin 5- Drop the water bottle into the trash bin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move your arm towards the bottle\n\u003c/PRED\u003e","video":"14687561056333206693.mp4"}
+{"uid":"121095224672864176","text":"\u003ctask:success:discrete:True\u003e\npick the bottle Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the bottle\n\u003c/PRED\u003e","video":"15194627143963050723.mp4"}
+{"uid":"17788414292423716244","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"282283452642853288.mp4"}
+{"uid":"10841744612866127693","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the bottle in the right bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the bottle in the right bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the bottle in the right bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw the water bottle into the cans and bottles recycling bin. last 20 steps: 1- Drop the water bottle on the floor 2- move your arm towards the bottle on the floor 3- pick up the bottle 4- slightly move your arm upwards 5- slightly turn to the left 6- move close to the bin Q: next 5 steps? \u003cPRED\u003eA: 1- drop the bottle in the right bin 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw the water bottle into the cans and bottles recycling bin. last 20 steps: 1- Drop the water bottle on the floor 2- move your arm towards the bottle on the floor 3- pick up the bottle 4- slightly move your arm upwards 5- slightly turn to the left 6- move close to the bin Q: immediate next step? \u003cPRED\u003eA: drop the bottle in the right bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the bottle in the right bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw the water bottle into the cans and bottles recycling bin Q: immediate next step? \u003cPRED\u003eA: drop the bottle in the right bin\n\u003c/PRED\u003e","video":"6579041864476985743.mp4"}
+{"uid":"6188382646469579105","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop candy in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9299337560947865404.mp4"}
+{"uid":"11356556166389482651","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":"10977099917189159621.mp4"}
+{"uid":"16070151566480236833","text":"\u003ctask:success:discrete:True\u003e\nmove your arm towards the bottle 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 your arm towards the bottle on the floor\n\u003c/PRED\u003e","video":"9481105559463275129.mp4"}
+{"uid":"6185181153550841850","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: throw the water bottle into the cans and bottles recycling bin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the bottle in the bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw the water bottle into the cans and bottles recycling bin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the bottle in the bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nrelease the bottle in the bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw the water bottle into the cans and bottles recycling bin. last 20 steps: 1- Drop the water bottle on the floor 2- move your arm towards the bottle on the floor 3- pick up the bottle 4- slightly move your arm upwards 5- slightly turn to the left 6- move close to the bin 7- release the bottle in the bin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: release the bottle in the bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw the water bottle into the cans and bottles recycling bin. last 20 steps: 1- Drop the water bottle on the floor 2- move your arm towards the bottle on the floor 3- pick up the bottle 4- slightly move your arm upwards 5- slightly turn to the left 6- move close to the bin 7- drop the bottle in the bin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw the water bottle into the cans and bottles recycling bin. last 20 steps: 1- Drop the water bottle on the floor 2- move your arm towards the bottle on the floor 3- pick up the bottle 4- slightly move your arm upwards 5- slightly turn to the left 6- move close to the bin 7- drop the bottle in the bin Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw the water bottle into the cans and bottles recycling bin. last 20 steps: 1- Drop the water bottle on the floor 2- move your arm towards the bottle on the floor 3- pick up the bottle 4- slightly move your arm upwards 5- slightly turn to the left 6- move close to the bin 7- release the bottle in the bin Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"4118316239004735983.mp4"}
+{"uid":"4129894024878208031","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move back\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove back Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8342659799312522864.mp4"}
+{"uid":"10780633958716387560","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nenter the room with the bottle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14303864024360713065.mp4"}
+{"uid":"17623567176725458003","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9161339552198553292.mp4"}
+{"uid":"1296538028944279202","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace lemonade plastic 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":"16510744895124233356.mp4"}
+{"uid":"7216010753330287572","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move your arm towards the bottle\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove your arm towards the bottle Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12813884003667836820.mp4"}
+{"uid":"14260898722870350668","text":"\u003ctask:success:discrete:True\u003e\npick up the water bottle 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 water bottle from the floor\n\u003c/PRED\u003e","video":"4820901003787266635.mp4"}
+{"uid":"13594823963324653911","text":"\u003ctask:success:discrete:True\u003e\nmove your arm towards the bottle Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move your arm towards the bottle\n\u003c/PRED\u003e","video":"3556179411491516573.mp4"}
+{"uid":"17731002825151997926","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"11128953031887892833.mp4"}
+{"uid":"7010387716070756422","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the plates on top of each other Q: immediate next step? \u003cPRED\u003eA: stack the plate\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the plate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 plate\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the plates on top of each other. last 20 steps: 1- stack the plate 2- stack the plate 3- stack the plate Q: next 5 steps? \u003cPRED\u003eA: 1- stack the plate 2- stack the plates 3- stack the plate 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the plate\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the plates on top of each other. last 20 steps: 1- stack the plate 2- stack the plate 3- stack the plate Q: immediate next step? \u003cPRED\u003eA: stack the plate\n\u003c/PRED\u003e","video":"18433050722320406532.mp4"}
+{"uid":"172055037536397602","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the plates on top of each other. last 20 steps: 1- stack the plate 2- stack the plate 3- stack the plate 4- stack the plate 5- stack the plates Q: next 5 steps? \u003cPRED\u003eA: 1- stack the plate 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the plate\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the plate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\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 plate Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the plates on top of each other. last 20 steps: 1- stack the plate 2- stack the plate 3- stack the plate 4- stack the plate 5- stack the plates Q: immediate next step? \u003cPRED\u003eA: stack the plate\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the plates on top of each other Q: immediate next step? \u003cPRED\u003eA: stack the plate\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the plate\n\u003c/PRED\u003e","video":"6546391155796314307.mp4"}
+{"uid":"2061277444453532450","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the jar lid on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17234854581472975223.mp4"}
+{"uid":"15043930419261269721","text":"\u003ctask:success:discrete:True\u003e\nmove close to the bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move close to the bin\n\u003c/PRED\u003e","video":"5559199257483156621.mp4"}
+{"uid":"5892174014886518171","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":"12472296217372199162.mp4"}
+{"uid":"13026223241473774914","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move away from the right side recycle bin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move away from the right side recycle bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove away from the right side recycle bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove away from the right side recycle bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw the water bottle into the cans and bottles recycling bin. last 20 steps: 1- Drop the water bottle on the floor 2- move your arm towards the bottle on the floor 3- pick up the bottle 4- slightly move your arm upwards 5- slightly turn to the left 6- move close to the bin 7- Drop the water bottle into the trash bin Q: immediate next step? \u003cPRED\u003eA: move away from the right side recycle bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw the water bottle into the cans and bottles recycling bin. last 20 steps: 1- Drop the water bottle on the floor 2- move your arm towards the bottle on the floor 3- pick up the bottle 4- slightly move your arm upwards 5- slightly turn to the left 6- move close to the bin 7- Drop the water bottle into the trash bin Q: next 5 steps? \u003cPRED\u003eA: 1- move away from the right side recycle bin 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw the water bottle into the cans and bottles recycling bin Q: immediate next step? \u003cPRED\u003eA: move away from the right side recycle bin\n\u003c/PRED\u003e","video":"9542570128365837578.mp4"}
+{"uid":"12529271431510865234","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: throw the water bottle into the cans and bottles recycling bin Q: immediate next step? \u003cPRED\u003eA: move your arm back\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw the water bottle into the cans and bottles recycling bin. last 20 steps: 1- Drop the water bottle on the floor 2- move your arm towards the bottle on the floor 3- pick up the bottle 4- slightly move your arm upwards 5- slightly turn to the left 6- move close to the bin 7- Drop the water bottle into the trash bin Q: immediate next step? \u003cPRED\u003eA: move your arm back\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: slightly move your arm back\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nslightly move your arm back Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nslightly move your arm back Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove your arm back Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw the water bottle into the cans and bottles recycling bin. last 20 steps: 1- Drop the water bottle on the floor 2- move your arm towards the bottle on the floor 3- pick up the bottle 4- slightly move your arm upwards 5- slightly turn to the left 6- move close to the bin 7- Drop the water bottle into the trash bin Q: immediate next step? \u003cPRED\u003eA: slightly move your arm back\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move your arm back\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw the water bottle into the cans and bottles recycling bin. last 20 steps: 1- Drop the water bottle on the floor 2- move your arm towards the bottle on the floor 3- pick up the bottle 4- slightly move your arm upwards 5- slightly turn to the left 6- move close to the bin 7- Drop the water bottle into the trash bin Q: next 5 steps? \u003cPRED\u003eA: 1- move your arm back 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw the water bottle into the cans and bottles recycling bin Q: immediate next step? \u003cPRED\u003eA: slightly move your arm back\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove your arm back Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move your arm back\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: slightly move your arm back\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw the water bottle into the cans and bottles recycling bin. last 20 steps: 1- Drop the water bottle on the floor 2- move your arm towards the bottle on the floor 3- pick up the bottle 4- slightly move your arm upwards 5- slightly turn to the left 6- move close to the bin 7- Drop the water bottle into the trash bin Q: next 5 steps? \u003cPRED\u003eA: 1- slightly move your arm back 2- done\n\u003c/PRED\u003e","video":"3033089430791995412.mp4"}
+{"uid":"15451112596423591426","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move to the right side recycle bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove to the right side recycle bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move to the right side recycle bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw the water bottle into the cans and bottles recycling bin. last 20 steps: 1- Drop the water bottle on the floor 2- move your arm towards the bottle on the floor 3- pick up the bottle 4- slightly move your arm upwards 5- slightly turn to the left Q: immediate next step? \u003cPRED\u003eA: move to the right side recycle bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove to the right side recycle bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw the water bottle into the cans and bottles recycling bin Q: immediate next step? \u003cPRED\u003eA: move to the right side recycle bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw the water bottle into the cans and bottles recycling bin. last 20 steps: 1- Drop the water bottle on the floor 2- move your arm towards the bottle on the floor 3- pick up the bottle 4- slightly move your arm upwards 5- slightly turn to the left Q: next 5 steps? \u003cPRED\u003eA: 1- move to the right side recycle bin 2- Drop the water bottle into the trash bin 3- move your arm back 4- done\n\u003c/PRED\u003e","video":"15270856582928063322.mp4"}
+{"uid":"11908478693206149003","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw the water bottle into the cans and bottles recycling bin. last 20 steps: 1- Drop the water bottle on the floor Q: next 5 steps? \u003cPRED\u003eA: 1- move your arm towards the bottle 2- slightly move your arm upwards 3- slightly turn to the left 4- move close to the bin 5- Drop the water bottle into the trash bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove your arm towards the bottle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove your arm towards the bottle Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw the water bottle into the cans and bottles recycling bin. last 20 steps: 1- Drop the water bottle on the floor Q: immediate next step? \u003cPRED\u003eA: move your arm towards the bottle\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw the water bottle into the cans and bottles recycling bin Q: immediate next step? \u003cPRED\u003eA: move your arm towards the bottle\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move your arm towards the bottle\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move your arm towards the bottle\n\u003c/PRED\u003e","video":"11261104823088035246.mp4"}
+{"uid":"9011542503334088531","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the fork in the forks 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":"10106714964834566577.mp4"}
+{"uid":"18032942573759869651","text":"\u003ctask:success:discrete:False\u003e\nslightly move 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw the water bottle into the cans and bottles recycling bin. last 20 steps: 1- Drop the water bottle on the floor 2- move your arm towards the bottle on the floor 3- pick up the bottle Q: next 5 steps? \u003cPRED\u003eA: 1- slightly move your arm upwards 2- slightly turn to the left 3- move close to the bin 4- Drop the water bottle into the trash bin 5- move your arm back\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: slightly move your arm upwards\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nslightly move 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: throw the water bottle into the cans and bottles recycling bin. last 20 steps: 1- Drop the water bottle on the floor 2- move your arm towards the bottle on the floor 3- pick up the bottle Q: immediate next step? \u003cPRED\u003eA: slightly move your arm upwards\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw the water bottle into the cans and bottles recycling bin Q: immediate next step? \u003cPRED\u003eA: slightly move your arm upwards\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: slightly move your arm upwards\n\u003c/PRED\u003e","video":"12438611766314284197.mp4"}
+{"uid":"2494855873565695696","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange in white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1537601374359759537.mp4"}
+{"uid":"383394346240319605","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":"16709416279953264087.mp4"}
+{"uid":"782516353816824605","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrag the left side top drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4129816255487546313.mp4"}
+{"uid":"12217348928263454917","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray Q: immediate next step? \u003cPRED\u003eA: put the brown sugar packets in the box tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the brown sugar packets in the box 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 brown sugar packets in the box tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the brown sugar packets in the box tray 2- put the brown packets into the organizer 3- put the  brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the brown sugar packets in the box tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the brown sugar packets in the box tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the brown sugar packets in the box tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2222091478331630867.mp4"}
+{"uid":"2297960461373221494","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the knife in stacked 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":"2130550459031460288.mp4"}
+{"uid":"4771318112820797026","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put brown packets in the rack\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut brown packets in the rack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5313147361110888955.mp4"}
+{"uid":"18397599426316630538","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer Q: immediate next step? \u003cPRED\u003eA: Put a brown packet in the rack\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put a brown packet in the rack\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray Q: immediate next step? \u003cPRED\u003eA: Put a brown packet in the rack\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put a brown packet in the rack\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- Put a brown packet in the rack 2- put the brown sugar packets in the box tray 3- Put a brown packet in the rack 4- Put a brown packet in the rack 5- put the brown packet into the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut a brown packet in the rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut a brown packet in the rack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9889322024263910999.mp4"}
+{"uid":"8638281435938270139","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray Q: immediate next step? \u003cPRED\u003eA: put the brown sugar packet in the box tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer 4- put the brown packet into the organizer Q: immediate next step? \u003cPRED\u003eA: put the brown sugar packet in the box tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer 4- put the brown packet into the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the brown sugar packet in the box tray 2- put the brown packet into the organizer 3- put the brown sugar packets in the box tray 4- Put a brown packet in the rack 5- Put a brown packet in the rack\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the brown sugar packet in the box tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the brown sugar packet in the box 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 brown sugar packet in the box tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the brown sugar packet in the box tray\n\u003c/PRED\u003e","video":"13079224963506977558.mp4"}
+{"uid":"309503697928682780","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":"3732290497951258716.mp4"}
+{"uid":"12061634641098624267","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put a brown packet in the rack\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut a brown packet in the rack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- Put a brown packet in the rack 2- put the brown packet into the organizer 3- put the brown packet into the organizer 4- put the brown sugar packets in the box tray 5- Put a brown packet in the rack\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray Q: immediate next step? \u003cPRED\u003eA: Put a brown packet in the rack\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer Q: immediate next step? \u003cPRED\u003eA: Put a brown packet in the rack\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put a brown packet in the rack\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut a brown packet in the rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5513463047458475785.mp4"}
+{"uid":"7553386528875745998","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":"4251291894034798390.mp4"}
+{"uid":"12100272752366360655","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove toward 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":"2611438108956553536.mp4"}
+{"uid":"12872170569995049890","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray. last 20 steps: 1- put the white packet on the table 2- put the white packet on the table 3- put the white packets on the table 4- put the white packet on the table 5- put the white packet on the table 6- put the white packets on the table 7- put the white packets on the table 8- put the white packet on the table 9- put brown packet on the table 10- put brown packet on the table 11- put brown packet on the table 12- put brown packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put brown packet on the table 2- put brown packet on the table 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray. last 20 steps: 1- put the white packet on the table 2- put the white packet on the table 3- put the white packets on the table 4- put the white packet on the table 5- put the white packet on the table 6- put the white packets on the table 7- put the white packets on the table 8- put the white packet on the table 9- put brown packet on the table 10- put brown packet on the table 11- put brown packet on the table 12- put brown packet on the table Q: immediate next step? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray Q: immediate next step? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput brown packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e","video":"10383594376166653929.mp4"}
+{"uid":"15137269598325468383","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer 6- put the brown packet into the organizer 7- put the brown sugar packets in the box tray 8- Put a brown packet in the rack 9- Put a brown packet in the rack 10- put the brown packet into the organizer 11- put the brown packet into the organizer 12- put the brown packet into the organizer Q: immediate next step? \u003cPRED\u003eA: put the  packets into the organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the  packets into the organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray Q: immediate next step? \u003cPRED\u003eA: put the  packets into the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer 6- put the brown packet into the organizer 7- put the brown sugar packets in the box tray 8- Put a brown packet in the rack 9- Put a brown packet in the rack 10- put the brown packet into the organizer 11- put the brown packet into the organizer 12- put the brown packet into the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the  packets into the organizer 2- put the  packets into the organizer 3- put the  packet into the organizer 4- Put the yellow packet in the rack 5- put the  packet into the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the  packets into the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the  packets into the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the  packets into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"321113332647343080.mp4"}
+{"uid":"11918557396435091711","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer 6- put the brown packet into the organizer 7- put the brown sugar packets in the box tray 8- Put a brown packet in the rack 9- Put a brown packet in the rack 10- put the brown packet into the organizer 11- put the brown packet into the organizer 12- put the brown packet into the organizer 13- put the  packets into the organizer 14- put the  packets into the organizer 15- put the  packet into the organizer 16- Put the yellow packet in the rack 17- put the  packet into the organizer 18- put the  packets into the organizer 19- put the  packet into the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the  packet into the organizer 2- put the  packet into the organizer 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray Q: immediate next step? \u003cPRED\u003eA: put the  packet into the organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the  packet into the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the  packet into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the  packet into the organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer 6- put the brown packet into the organizer 7- put the brown sugar packets in the box tray 8- Put a brown packet in the rack 9- Put a brown packet in the rack 10- put the brown packet into the organizer 11- put the brown packet into the organizer 12- put the brown packet into the organizer 13- put the  packets into the organizer 14- put the  packets into the organizer 15- put the  packet into the organizer 16- Put the yellow packet in the rack 17- put the  packet into the organizer 18- put the  packets into the organizer 19- put the  packet into the organizer Q: immediate next step? \u003cPRED\u003eA: put the  packet into the organizer\n\u003c/PRED\u003e","video":"8689316409660923620.mp4"}
+{"uid":"2879943665988202851","text":"\u003ctask:success:discrete:False\u003e\nput the white packets on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white packets on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the white packets on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white packets on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray Q: immediate next step? \u003cPRED\u003eA: put the white packets on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray. last 20 steps: 1- put the white packet on the table 2- put the white packet on the table 3- put the white packets on the table 4- put the white packet on the table 5- put the white packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packets on the table 2- put the white packets on the table 3- put the white packet on the table 4- put brown packet on the table 5- put brown packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray. last 20 steps: 1- put the white packet on the table 2- put the white packet on the table 3- put the white packets on the table 4- put the white packet on the table 5- put the white packet on the table Q: immediate next step? \u003cPRED\u003eA: put the white packets on the table\n\u003c/PRED\u003e","video":"12891485596744355837.mp4"}
+{"uid":"1013136316754134984","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put a brown packet in the rack\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\npick the white bottle from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut a brown packet in the rack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13592453341624300616.mp4"}
+{"uid":"12222377008229035045","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove to the right Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2536011973636576824.mp4"}
+{"uid":"5024299112032514761","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput brown packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray Q: immediate next step? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray. last 20 steps: 1- put the white packet on the table 2- put the white packet on the table 3- put the white packets on the table 4- put the white packet on the table 5- put the white packet on the table 6- put the white packets on the table 7- put the white packets on the table 8- put the white packet on the table 9- put brown packet on the table 10- put brown packet on the table Q: immediate next step? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray. last 20 steps: 1- put the white packet on the table 2- put the white packet on the table 3- put the white packets on the table 4- put the white packet on the table 5- put the white packet on the table 6- put the white packets on the table 7- put the white packets on the table 8- put the white packet on the table 9- put brown packet on the table 10- put brown packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put brown packet on the table 2- put brown packet on the table 3- put brown packet on the table 4- put brown packet on the table 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e","video":"18214602686491997061.mp4"}
+{"uid":"14961122319246841054","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":"14701618797945510287.mp4"}
+{"uid":"4558101365584428244","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put brown packets in the rack\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put brown packets in the rack\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut brown packets in the rack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put brown packets in the rack\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray Q: immediate next step? \u003cPRED\u003eA: Put brown packets in the rack\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut brown packets in the rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6052277123406970370.mp4"}
+{"uid":"2693311959985957023","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer 6- put the brown packet into the organizer 7- put the brown sugar packets in the box tray 8- Put a brown packet in the rack 9- Put a brown packet in the rack 10- put the brown packet into the organizer 11- put the brown packet into the organizer 12- put the brown packet into the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- Put yellow packets in the rack 2- put the  packets into the organizer 3- put the  packet into the organizer 4- Put the yellow packet in the rack 5- put the  packet into the organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer 6- put the brown packet into the organizer 7- put the brown sugar packets in the box tray 8- Put a brown packet in the rack 9- Put a brown packet in the rack 10- put the brown packet into the organizer 11- put the brown packet into the organizer 12- put the brown packet into the organizer Q: immediate next step? \u003cPRED\u003eA: Put yellow packets in the rack\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut yellow packets in the rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut yellow packets in the rack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put yellow packets in the rack\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray Q: immediate next step? \u003cPRED\u003eA: Put yellow packets in the rack\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put yellow packets in the rack\n\u003c/PRED\u003e","video":"9895066470065585639.mp4"}
+{"uid":"2731439749370616809","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nArrange the floor mop Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1230241115686121402.mp4"}
+{"uid":"14850625189308031835","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the paper bowl on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17160020615493164448.mp4"}
+{"uid":"14009546639322546719","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the blue 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":"18243765120194037474.mp4"}
+{"uid":"17285366724768837345","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the brown packet into the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the brown packet into the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3356292837654143051.mp4"}
+{"uid":"11454465998326425434","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove to the brown 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":"11319396839525964508.mp4"}
+{"uid":"1793238034582913355","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the paper glass in the coffee machine Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17276233897988564735.mp4"}
+{"uid":"13986915903645196258","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":"11994625159629319776.mp4"}
+{"uid":"10656293478187517142","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachio in 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":"9349996854511107043.mp4"}
+{"uid":"10141870130011136977","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nadjust 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":"3878476544720204333.mp4"}
+{"uid":"15472669702246138677","text":"\u003ctask:success:discrete:False\u003e\nput the brown sugar packet in the box tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the brown sugar packet in the box tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer 6- put the brown packet into the organizer 7- put the brown sugar packets in the box tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the brown sugar packet in the box tray 2- Put a brown packet in the rack 3- put the brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the brown sugar packet in the box tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray Q: immediate next step? \u003cPRED\u003eA: put the brown sugar packet in the box tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer 6- put the brown packet into the organizer 7- put the brown sugar packets in the box tray Q: immediate next step? \u003cPRED\u003eA: put the brown sugar packet in the box tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the brown sugar packet in the box tray\n\u003c/PRED\u003e","video":"8824572545251929123.mp4"}
+{"uid":"12667098659762377455","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the brown packet into the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the brown packet into the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16560795083884618998.mp4"}
+{"uid":"17332932605863697622","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer 6- put the brown packet into the organizer 7- put the brown sugar packets in the box tray 8- Put a brown packet in the rack 9- Put a brown packet in the rack 10- put the brown packet into the organizer 11- put the brown packet into the organizer 12- put the brown packet into the organizer 13- put the  packets into the organizer 14- put the  packets into the organizer 15- put the  packet into the organizer Q: immediate next step? \u003cPRED\u003eA: Put the yellow packet in the rack\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the yellow packet in the rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the yellow packet in the rack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray Q: immediate next step? \u003cPRED\u003eA: Put the yellow packet in the rack\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer 6- put the brown packet into the organizer 7- put the brown sugar packets in the box tray 8- Put a brown packet in the rack 9- Put a brown packet in the rack 10- put the brown packet into the organizer 11- put the brown packet into the organizer 12- put the brown packet into the organizer 13- put the  packets into the organizer 14- put the  packets into the organizer 15- put the  packet into the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- Put the yellow packet in the rack 2- put the  packets into the organizer 3- put the  packet into the organizer 4- put the  packet into the organizer 5- put the  packet into the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the yellow packet in the rack\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 rack\n\u003c/PRED\u003e","video":"12288770450764724455.mp4"}
+{"uid":"6046377463997299015","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put white packets in the rack\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer 6- put the brown packet into the organizer 7- put the brown sugar packets in the box tray 8- Put a brown packet in the rack 9- Put a brown packet in the rack 10- put the brown packet into the organizer 11- put the brown packet into the organizer 12- put the brown packet into the organizer 13- put the  packets into the organizer 14- put the  packets into the organizer 15- put the  packet into the organizer 16- Put the yellow packet in the rack 17- put the  packet into the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- Put white packets in the rack 2- put the  packet into the organizer 3- put the  packet into the organizer 4- put the  packet into the organizer 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer 6- put the brown packet into the organizer 7- put the brown sugar packets in the box tray 8- Put a brown packet in the rack 9- Put a brown packet in the rack 10- put the brown packet into the organizer 11- put the brown packet into the organizer 12- put the brown packet into the organizer 13- put the  packets into the organizer 14- put the  packets into the organizer 15- put the  packet into the organizer 16- Put the yellow packet in the rack 17- put the  packet into the organizer Q: immediate next step? \u003cPRED\u003eA: Put white packets in the rack\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray Q: immediate next step? \u003cPRED\u003eA: Put white packets in the rack\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut white packets in the rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put white packets in the rack\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut white packets in the rack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1114668478939704645.mp4"}
+{"uid":"14942435888257242517","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the yellow packet in the rack\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray Q: immediate next step? \u003cPRED\u003eA: Put the yellow packet in the rack\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the yellow packet in the rack\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer 6- put the brown packet into the organizer 7- put the brown sugar packets in the box tray 8- Put a brown packet in the rack 9- Put a brown packet in the rack 10- put the brown packet into the organizer 11- put the brown packet into the organizer 12- put the brown packet into the organizer 13- put the  packets into the organizer 14- put the  packets into the organizer 15- put the  packet into the organizer 16- Put the yellow packet in the rack Q: next 5 steps? \u003cPRED\u003eA: 1- Put the yellow packet in the rack 2- put the  packets into the organizer 3- put the  packet into the organizer 4- put the  packet into the organizer 5- put the  packet into the organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer 6- put the brown packet into the organizer 7- put the brown sugar packets in the box tray 8- Put a brown packet in the rack 9- Put a brown packet in the rack 10- put the brown packet into the organizer 11- put the brown packet into the organizer 12- put the brown packet into the organizer 13- put the  packets into the organizer 14- put the  packets into the organizer 15- put the  packet into the organizer 16- Put the yellow packet in the rack Q: immediate next step? \u003cPRED\u003eA: Put the yellow packet in the rack\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the yellow packet in the rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4591315913871608920.mp4"}
+{"uid":"11608012872274810797","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the  packets into the organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer 6- put the brown packet into the organizer 7- put the brown sugar packets in the box tray 8- Put a brown packet in the rack 9- Put a brown packet in the rack 10- put the brown packet into the organizer 11- put the brown packet into the organizer 12- put the brown packet into the organizer 13- put the  packets into the organizer Q: immediate next step? \u003cPRED\u003eA: put the  packets into the organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray Q: immediate next step? \u003cPRED\u003eA: put the  packets into the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the  packets into the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer 6- put the brown packet into the organizer 7- put the brown sugar packets in the box tray 8- Put a brown packet in the rack 9- Put a brown packet in the rack 10- put the brown packet into the organizer 11- put the brown packet into the organizer 12- put the brown packet into the organizer 13- put the  packets into the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the  packets into the organizer 2- put the  packet into the organizer 3- Put the yellow packet in the rack 4- put the  packet into the organizer 5- put the  packets into the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the  packets into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5549208680285711261.mp4"}
+{"uid":"6698095828543451330","text":"\u003ctask:success:discrete:False\u003e\nput the brown sugar packet in the box tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray Q: immediate next step? \u003cPRED\u003eA: put the brown sugar packet in the box tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the brown sugar packet in the box tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the brown sugar packet in the box tray 2- put the brown packet into the organizer 3- put the brown packet into the organizer 4- put the brown sugar packets in the box tray 5- Put a brown packet in the rack\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer Q: immediate next step? \u003cPRED\u003eA: put the brown sugar packet in the box tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the brown sugar packet in the box 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 brown sugar packet in the box tray\n\u003c/PRED\u003e","video":"11242201847302656935.mp4"}
+{"uid":"8225634865840002170","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer 6- put the brown packet into the organizer Q: immediate next step? \u003cPRED\u003eA: Put brown packets in the rack\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put brown packets in the rack\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put brown packets in the rack\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut brown packets in the rack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut brown packets in the rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer 6- put the brown packet into the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- Put brown packets in the rack 2- Put a brown packet in the rack 3- Put a brown packet in the rack 4- put the brown packet into the organizer 5- put the brown packet into the organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray Q: immediate next step? \u003cPRED\u003eA: Put brown packets in the rack\n\u003c/PRED\u003e","video":"6101796778610714326.mp4"}
+{"uid":"10036132985192490933","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer 6- put the brown packet into the organizer 7- put the brown sugar packets in the box tray 8- Put a brown packet in the rack 9- Put a brown packet in the rack 10- put the brown packet into the organizer 11- put the brown packet into the organizer 12- put the brown packet into the organizer 13- put the  packets into the organizer 14- put the  packets into the organizer 15- put the  packet into the organizer 16- Put the yellow packet in the rack 17- put the  packet into the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packets in the box tray 2- put the  packet into the organizer 3- put the  packet into the organizer 4- put the  packet into the organizer 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the white packets in the box tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer 6- put the brown packet into the organizer 7- put the brown sugar packets in the box tray 8- Put a brown packet in the rack 9- Put a brown packet in the rack 10- put the brown packet into the organizer 11- put the brown packet into the organizer 12- put the brown packet into the organizer 13- put the  packets into the organizer 14- put the  packets into the organizer 15- put the  packet into the organizer 16- Put the yellow packet in the rack 17- put the  packet into the organizer Q: immediate next step? \u003cPRED\u003eA: put the white packets in the box tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white packets in the box 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 packets in the box tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray Q: immediate next step? \u003cPRED\u003eA: put the white packets in the box tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white packets in the box tray\n\u003c/PRED\u003e","video":"6507472775748236348.mp4"}
+{"uid":"212106360093919035","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the black object 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":"17405154225644223597.mp4"}
+{"uid":"8136734244522604130","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray Q: immediate next step? \u003cPRED\u003eA: put the white packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray. last 20 steps: 1- put the white packet on the table 2- put the white packet on the table 3- put the white packets on the table 4- put the white packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packet on the table 2- put the white packets on the table 3- put the white packets on the table 4- put the white packet on the table 5- put brown packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray. last 20 steps: 1- put the white packet on the table 2- put the white packet on the table 3- put the white packets on the table 4- put the white packet on the table Q: immediate next step? \u003cPRED\u003eA: put the white 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 white packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the white 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":"7206499394133356941.mp4"}
+{"uid":"4810779482196676160","text":"\u003ctask:success:discrete:True\u003e\nput the brown packet into the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the brown packet into the organizer\n\u003c/PRED\u003e","video":"4729899451895074203.mp4"}
+{"uid":"12150246419039315370","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the  brown packet into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer Q: immediate next step? \u003cPRED\u003eA: put the  brown packet into the organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the  brown packet into the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the  brown packet into the organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray Q: immediate next step? \u003cPRED\u003eA: put the  brown packet into the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the  brown packet into the organizer 2- put the brown packet into the organizer 3- put the brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown sugar packets in the box tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the  brown packet into the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15935604612216369603.mp4"}
+{"uid":"6041172624525694110","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray Q: immediate next step? \u003cPRED\u003eA: put the white 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 white packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white 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 oatmeal and coffee packets from the tray. last 20 steps: 1- put the white packet on the table 2- put the white packet on the table 3- put the white packets on the table 4- put the white packet on the table 5- put the white packet on the table 6- put the white packets on the table 7- put the white packets on the table Q: immediate next step? \u003cPRED\u003eA: put the white packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the white packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray. last 20 steps: 1- put the white packet on the table 2- put the white packet on the table 3- put the white packets on the table 4- put the white packet on the table 5- put the white packet on the table 6- put the white packets on the table 7- put the white packets on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packet on the table 2- put brown packet on the table 3- put brown packet on the table 4- put brown packet on the table 5- put brown packet on the table\n\u003c/PRED\u003e","video":"15374061258809406573.mp4"}
+{"uid":"11469583364385802291","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer 6- put the brown packet into the organizer 7- put the brown sugar packets in the box tray 8- Put a brown packet in the rack 9- Put a brown packet in the rack 10- put the brown packet into the organizer 11- put the brown packet into the organizer 12- put the brown packet into the organizer 13- put the  packets into the organizer 14- put the  packets into the organizer Q: immediate next step? \u003cPRED\u003eA: Put the yellow packet in the rack\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the yellow packet in the rack\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 rack\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray Q: immediate next step? \u003cPRED\u003eA: Put the yellow packet in the rack\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the yellow packet in the rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer 6- put the brown packet into the organizer 7- put the brown sugar packets in the box tray 8- Put a brown packet in the rack 9- Put a brown packet in the rack 10- put the brown packet into the organizer 11- put the brown packet into the organizer 12- put the brown packet into the organizer 13- put the  packets into the organizer 14- put the  packets into the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- Put the yellow packet in the rack 2- Put the yellow packet in the rack 3- put the  packet into the organizer 4- put the  packets into the organizer 5- put the  packet into the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the yellow packet in the rack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5680301104887722174.mp4"}
+{"uid":"13690080957725333176","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":"3380653365454413196.mp4"}
+{"uid":"10376337656288880553","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the box in the trash bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10934592747682167099.mp4"}
+{"uid":"15260799483462666383","text":"\u003ctask:success:discrete:True\u003e\nput the  packets into the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the  packets into the organizer\n\u003c/PRED\u003e","video":"3312729501736979529.mp4"}
+{"uid":"8925210450647529013","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the packet on the table from 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":"2023584088466121606.mp4"}
+{"uid":"2465218200291358579","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the desktop on 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":"6148558143410318234.mp4"}
+{"uid":"13512776957404193231","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the cream packet in the box tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer 6- put the brown packet into the organizer 7- put the brown sugar packets in the box tray 8- Put a brown packet in the rack 9- Put a brown packet in the rack 10- put the brown packet into the organizer 11- put the brown packet into the organizer 12- put the brown packet into the organizer 13- put the  packets into the organizer 14- put the  packets into the organizer 15- put the  packet into the organizer 16- Put the yellow packet in the rack 17- put the  packet into the organizer 18- put the  packets into the organizer 19- put the  packet into the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the cream packet in the box tray 2- put the  packet into the organizer 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the cream packet in the box tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer 6- put the brown packet into the organizer 7- put the brown sugar packets in the box tray 8- Put a brown packet in the rack 9- Put a brown packet in the rack 10- put the brown packet into the organizer 11- put the brown packet into the organizer 12- put the brown packet into the organizer 13- put the  packets into the organizer 14- put the  packets into the organizer 15- put the  packet into the organizer 16- Put the yellow packet in the rack 17- put the  packet into the organizer 18- put the  packets into the organizer 19- put the  packet into the organizer Q: immediate next step? \u003cPRED\u003eA: put the cream packet in the box tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray Q: immediate next step? \u003cPRED\u003eA: put the cream packet in the box tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the cream packet in the box tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the cream packet in the box tray\n\u003c/PRED\u003e","video":"17557885040663129693.mp4"}
+{"uid":"10130428703984417281","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the green marker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8579760543671420193.mp4"}
+{"uid":"14646430219720630659","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nunstack 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":"12880186558096628035.mp4"}
+{"uid":"4791009969201433507","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":"14680838566532591232.mp4"}
+{"uid":"13478888913771584799","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the forks in the fork holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5959246137315561883.mp4"}
+{"uid":"18255417752110693281","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack Q: next 5 steps? \u003cPRED\u003eA: 1- put the brown sugar packets in the box tray 2- put the  brown packet into the organizer 3- put the brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the brown sugar packets in the box 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 brown sugar packets in the box 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 brown sugar packets in the box tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray Q: immediate next step? \u003cPRED\u003eA: put the brown sugar packets in the box tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack Q: immediate next step? \u003cPRED\u003eA: put the brown sugar packets in the box tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the brown sugar packets in the box tray\n\u003c/PRED\u003e","video":"12358505961259542526.mp4"}
+{"uid":"9388156723601302388","text":"\u003ctask:success:discrete:True\u003e\nput the brown packet into the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the brown packet into the organizer\n\u003c/PRED\u003e","video":"11529157990825853465.mp4"}
+{"uid":"1306674630474524876","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white packets on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white packets on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray. last 20 steps: 1- put the white packet on the table 2- put the white packet on the table 3- put the white packets on the table 4- put the white packet on the table 5- put the white packet on the table 6- put the white packets on the table Q: immediate next step? \u003cPRED\u003eA: put the white packets on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray Q: immediate next step? \u003cPRED\u003eA: put the white packets on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the white packets on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray. last 20 steps: 1- put the white packet on the table 2- put the white packet on the table 3- put the white packets on the table 4- put the white packet on the table 5- put the white packet on the table 6- put the white packets on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packets on the table 2- put the white packet on the table 3- put brown packet on the table 4- put brown packet on the table 5- put brown packet on the table\n\u003c/PRED\u003e","video":"1267405820173857277.mp4"}
+{"uid":"6593543885284983272","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pen from holder onto the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15905314810569916359.mp4"}
+{"uid":"7053182264237460578","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the brown packets into the organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray Q: immediate next step? \u003cPRED\u003eA: put the brown packets into the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the brown packets into the organizer 2- put the brown packets into the organizer 3- put the  brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the brown packets into the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the brown packets into the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the brown packets into the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the brown packets into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4351019243507412791.mp4"}
+{"uid":"3099023595278284275","text":"\u003ctask:success:discrete:True\u003e\nput the brown sugar packets in the box tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the brown sugar packets in the box tray\n\u003c/PRED\u003e","video":"15639562934597661148.mp4"}
+{"uid":"14523026198451324978","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the brown sugar packet in the box tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer 6- put the brown packet into the organizer 7- put the brown sugar packets in the box tray 8- Put a brown packet in the rack 9- Put a brown packet in the rack 10- put the brown packet into the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the brown sugar packet in the box tray 2- put the brown packet into the organizer 3- put the  packets into the organizer 4- put the  packets into the organizer 5- put the  packet into the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the brown sugar packet in the box tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the brown sugar packet in the box tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the brown sugar packet in the box tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer 6- put the brown packet into the organizer 7- put the brown sugar packets in the box tray 8- Put a brown packet in the rack 9- Put a brown packet in the rack 10- put the brown packet into the organizer Q: immediate next step? \u003cPRED\u003eA: put the brown sugar packet in the box tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray Q: immediate next step? \u003cPRED\u003eA: put the brown sugar packet in the box tray\n\u003c/PRED\u003e","video":"4684741520449794788.mp4"}
+{"uid":"17585166981568682087","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put a brown packet in the rack\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray Q: immediate next step? \u003cPRED\u003eA: Put a brown packet in the rack\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer 6- put the brown packet into the organizer 7- put the brown sugar packets in the box tray 8- Put a brown packet in the rack 9- Put a brown packet in the rack Q: next 5 steps? \u003cPRED\u003eA: 1- Put a brown packet in the rack 2- put the brown packet into the organizer 3- put the  packets into the organizer 4- put the  packets into the organizer 5- put the  packet into the organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer 6- put the brown packet into the organizer 7- put the brown sugar packets in the box tray 8- Put a brown packet in the rack 9- Put a brown packet in the rack Q: immediate next step? \u003cPRED\u003eA: Put a brown packet in the rack\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut a brown packet in the rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put a brown packet in the rack\n\u003c/PRED\u003e","video":"6058343844477341552.mp4"}
+{"uid":"12888254025457391476","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer 6- put the brown packet into the organizer 7- put the brown sugar packets in the box tray 8- Put a brown packet in the rack 9- Put a brown packet in the rack 10- put the brown packet into the organizer Q: immediate next step? \u003cPRED\u003eA: put the brown packet into the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the brown packet into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray Q: immediate next step? \u003cPRED\u003eA: put the brown packet into the organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the brown packet into the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer 6- put the brown packet into the organizer 7- put the brown sugar packets in the box tray 8- Put a brown packet in the rack 9- Put a brown packet in the rack 10- put the brown packet into the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the brown packet into the organizer 2- put the brown packet into the organizer 3- put the  packets into the organizer 4- put the  packets into the organizer 5- put the  packet into the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the brown packet into the organizer\n\u003c/PRED\u003e","video":"4764247446940129987.mp4"}
+{"uid":"9427327403091059473","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput popcorn packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5812051696645927094.mp4"}
+{"uid":"12139205160011572559","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput brown packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray. last 20 steps: 1- put the white packet on the table 2- put the white packet on the table 3- put the white packets on the table 4- put the white packet on the table 5- put the white packet on the table 6- put the white packets on the table 7- put the white packets on the table 8- put the white packet on the table 9- put brown packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put brown packet on the table 2- put brown packet on the table 3- put brown packet on the table 4- put brown packet on the table 5- put brown packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray. last 20 steps: 1- put the white packet on the table 2- put the white packet on the table 3- put the white packets on the table 4- put the white packet on the table 5- put the white packet on the table 6- put the white packets on the table 7- put the white packets on the table 8- put the white packet on the table 9- put brown packet on the table Q: immediate next step? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray Q: immediate next step? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e","video":"14856567142146338029.mp4"}
+{"uid":"17001258358694261026","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the cream packet in the box tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the cream packet in the box 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 cream packet in the box tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the cream packet in the box tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer 6- put the brown packet into the organizer 7- put the brown sugar packets in the box tray 8- Put a brown packet in the rack 9- Put a brown packet in the rack 10- put the brown packet into the organizer 11- put the brown packet into the organizer 12- put the brown packet into the organizer 13- put the  packets into the organizer 14- put the  packets into the organizer 15- put the  packet into the organizer 16- Put the yellow packet in the rack Q: immediate next step? \u003cPRED\u003eA: put the cream packet in the box tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray Q: immediate next step? \u003cPRED\u003eA: put the cream packet in the box tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer 6- put the brown packet into the organizer 7- put the brown sugar packets in the box tray 8- Put a brown packet in the rack 9- Put a brown packet in the rack 10- put the brown packet into the organizer 11- put the brown packet into the organizer 12- put the brown packet into the organizer 13- put the  packets into the organizer 14- put the  packets into the organizer 15- put the  packet into the organizer 16- Put the yellow packet in the rack Q: next 5 steps? \u003cPRED\u003eA: 1- put the cream packet in the box tray 2- put the  packets into the organizer 3- put the  packet into the organizer 4- put the  packet into the organizer 5- put the  packet into the organizer\n\u003c/PRED\u003e","video":"4770221386960019695.mp4"}
+{"uid":"7522342823753505597","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray Q: immediate next step? \u003cPRED\u003eA: put the brown sugar packets in the box tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer 6- put the brown packet into the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the brown sugar packets in the box tray 2- Put a brown packet in the rack 3- Put a brown packet in the rack 4- put the brown packet into the organizer 5- put the brown packet into the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the brown sugar packets in the box tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the brown sugar packets in the box tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the brown sugar packets in the box tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the brown sugar packets in the box tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer 6- put the brown packet into the organizer Q: immediate next step? \u003cPRED\u003eA: put the brown sugar packets in the box tray\n\u003c/PRED\u003e","video":"1121390826538744317.mp4"}
+{"uid":"1028798873482167621","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer 6- put the brown packet into the organizer 7- put the brown sugar packets in the box tray 8- Put a brown packet in the rack 9- Put a brown packet in the rack 10- put the brown packet into the organizer 11- put the brown packet into the organizer 12- put the brown packet into the organizer 13- put the  packets into the organizer 14- put the  packets into the organizer 15- put the  packet into the organizer Q: immediate next step? \u003cPRED\u003eA: put the  packet into the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the  packet into the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer 6- put the brown packet into the organizer 7- put the brown sugar packets in the box tray 8- Put a brown packet in the rack 9- Put a brown packet in the rack 10- put the brown packet into the organizer 11- put the brown packet into the organizer 12- put the brown packet into the organizer 13- put the  packets into the organizer 14- put the  packets into the organizer 15- put the  packet into the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the  packet into the organizer 2- put the  packet into the organizer 3- put the  packets into the organizer 4- put the  packet into the organizer 5- put the  packet into the organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the  packet into the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the  packet into the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray Q: immediate next step? \u003cPRED\u003eA: put the  packet into the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the  packet into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14542584063621190454.mp4"}
+{"uid":"18376003735037193135","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the brown packet into the organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer 6- put the brown packet into the organizer 7- put the brown sugar packets in the box tray Q: immediate next step? \u003cPRED\u003eA: put the brown packet into the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the brown packet into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer 6- put the brown packet into the organizer 7- put the brown sugar packets in the box tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the brown packet into the organizer 2- Put a brown packet in the rack 3- put the brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the brown packet into the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the brown packet into the organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray Q: immediate next step? \u003cPRED\u003eA: put the brown packet into the organizer\n\u003c/PRED\u003e","video":"2549393935368248756.mp4"}
+{"uid":"12962456271375172544","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose the trap doors Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4645276736766262563.mp4"}
+{"uid":"4181620587971014790","text":"\u003ctask:success:discrete:True\u003e\nPut brown packets in the rack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put brown packets in the rack\n\u003c/PRED\u003e","video":"5684441987529604876.mp4"}
+{"uid":"12115467195078283575","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put a brown packet in the rack\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut a brown packet in the rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut a brown packet in the rack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer 6- put the brown packet into the organizer 7- put the brown sugar packets in the box tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put a brown packet in the rack 2- Put a brown packet in the rack 3- put the brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray Q: immediate next step? \u003cPRED\u003eA: Put a brown packet in the rack\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put a brown packet in the rack\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer 6- put the brown packet into the organizer 7- put the brown sugar packets in the box tray Q: immediate next step? \u003cPRED\u003eA: Put a brown packet in the rack\n\u003c/PRED\u003e","video":"118352308432855864.mp4"}
+{"uid":"544392596721362935","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put yellow packets in the rack\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut yellow packets in the rack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2436696790948517530.mp4"}
+{"uid":"2770082635954254216","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the brown packet into the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the brown packet into the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10742635409279701517.mp4"}
+{"uid":"1482142411228841740","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray Q: immediate next step? \u003cPRED\u003eA: put the  packet into the organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer 6- put the brown packet into the organizer 7- put the brown sugar packets in the box tray 8- Put a brown packet in the rack 9- Put a brown packet in the rack 10- put the brown packet into the organizer 11- put the brown packet into the organizer 12- put the brown packet into the organizer 13- put the  packets into the organizer 14- put the  packets into the organizer Q: immediate next step? \u003cPRED\u003eA: put the  packet into the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the  packet into the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the  packet into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the  packet into the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the  packet into the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer 6- put the brown packet into the organizer 7- put the brown sugar packets in the box tray 8- Put a brown packet in the rack 9- Put a brown packet in the rack 10- put the brown packet into the organizer 11- put the brown packet into the organizer 12- put the brown packet into the organizer 13- put the  packets into the organizer 14- put the  packets into the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the  packet into the organizer 2- Put the yellow packet in the rack 3- put the  packet into the organizer 4- put the  packets into the organizer 5- put the  packet into the organizer\n\u003c/PRED\u003e","video":"6955646112693770043.mp4"}
+{"uid":"15750091641624975715","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop blue ball 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":"1171444291882084664.mp4"}
+{"uid":"16031321165619766776","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachio in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14545497716863798191.mp4"}
+{"uid":"13703167308555743993","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the cream packet in the box tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray Q: immediate next step? \u003cPRED\u003eA: put the cream packet in the box tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the cream packet in the box tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the cream packet in the box tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer 6- put the brown packet into the organizer 7- put the brown sugar packets in the box tray 8- Put a brown packet in the rack 9- Put a brown packet in the rack 10- put the brown packet into the organizer 11- put the brown packet into the organizer 12- put the brown packet into the organizer 13- put the  packets into the organizer 14- put the  packets into the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the cream packet in the box tray 2- Put the yellow packet in the rack 3- put the  packet into the organizer 4- put the  packets into the organizer 5- put the  packet into the organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer 6- put the brown packet into the organizer 7- put the brown sugar packets in the box tray 8- Put a brown packet in the rack 9- Put a brown packet in the rack 10- put the brown packet into the organizer 11- put the brown packet into the organizer 12- put the brown packet into the organizer 13- put the  packets into the organizer 14- put the  packets into the organizer Q: immediate next step? \u003cPRED\u003eA: put the cream packet in the box tray\n\u003c/PRED\u003e","video":"12077120102070772099.mp4"}
+{"uid":"867657571455040409","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the cream packet in the box tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer 6- put the brown packet into the organizer 7- put the brown sugar packets in the box tray 8- Put a brown packet in the rack 9- Put a brown packet in the rack 10- put the brown packet into the organizer 11- put the brown packet into the organizer 12- put the brown packet into the organizer 13- put the  packets into the organizer Q: immediate next step? \u003cPRED\u003eA: put the cream packet in the box tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the cream packet in the box tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer 6- put the brown packet into the organizer 7- put the brown sugar packets in the box tray 8- Put a brown packet in the rack 9- Put a brown packet in the rack 10- put the brown packet into the organizer 11- put the brown packet into the organizer 12- put the brown packet into the organizer 13- put the  packets into the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the cream packet in the box tray 2- put the  packet into the organizer 3- Put the yellow packet in the rack 4- put the  packet into the organizer 5- put the  packets into the organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray Q: immediate next step? \u003cPRED\u003eA: put the cream packet in the box tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the cream packet in the box tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the cream packet in the box 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":"6655019588578849729.mp4"}
+{"uid":"413598156450978209","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13434751723864542129.mp4"}
+{"uid":"13637619770742356940","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the apple on the white table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12504849173976864718.mp4"}
+{"uid":"9760421733970481038","text":"\u003ctask:success:discrete:False\u003e\nPut brown packets in the rack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack Q: next 5 steps? \u003cPRED\u003eA: 1- Put brown packets in the rack 2- put the brown packet into the organizer 3- put the brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown sugar packets in the box tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put brown packets in the rack\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put brown packets in the rack\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack Q: immediate next step? \u003cPRED\u003eA: Put brown packets in the rack\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray Q: immediate next step? \u003cPRED\u003eA: Put brown packets in the rack\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut brown packets in the rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7735358583017614785.mp4"}
+{"uid":"17044754702345360727","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace pipcorn 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":"2885351566120204206.mp4"}
+{"uid":"553901640445516693","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the adapter 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":"12369931471543903090.mp4"}
+{"uid":"9477884285223452328","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":"4266786960176087352.mp4"}
+{"uid":"14701857045079650101","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer 6- put the brown packet into the organizer 7- put the brown sugar packets in the box tray 8- Put a brown packet in the rack 9- Put a brown packet in the rack 10- put the brown packet into the organizer 11- put the brown packet into the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the brown sugar packet in the box tray 2- put the  packets into the organizer 3- put the  packets into the organizer 4- put the  packet into the organizer 5- Put the yellow packet in the rack\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer 6- put the brown packet into the organizer 7- put the brown sugar packets in the box tray 8- Put a brown packet in the rack 9- Put a brown packet in the rack 10- put the brown packet into the organizer 11- put the brown packet into the organizer Q: immediate next step? \u003cPRED\u003eA: put the brown sugar packet in the box tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the brown sugar packet in the box 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 brown sugar packet in the box tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the brown sugar packet in the box tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray Q: immediate next step? \u003cPRED\u003eA: put the brown sugar packet in the box tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the brown sugar packet in the box tray\n\u003c/PRED\u003e","video":"1770727147021349160.mp4"}
+{"uid":"10680246026316302270","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray. last 20 steps: 1- put the white packet on the table 2- put the white packet on the table 3- put the white packets on the table 4- put the white packet on the table 5- put the white packet on the table 6- put the white packets on the table 7- put the white packets on the table 8- put the white packet on the table 9- put brown packet on the table 10- put brown packet on the table 11- put brown packet on the table Q: immediate next step? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray Q: immediate next step? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray. last 20 steps: 1- put the white packet on the table 2- put the white packet on the table 3- put the white packets on the table 4- put the white packet on the table 5- put the white packet on the table 6- put the white packets on the table 7- put the white packets on the table 8- put the white packet on the table 9- put brown packet on the table 10- put brown packet on the table 11- put brown packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put brown packet on the table 2- put brown packet on the table 3- put brown packet on the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput brown packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8548861028400675952.mp4"}
+{"uid":"18231650135571680771","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the box on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9693715835810243766.mp4"}
+{"uid":"15559117080167761479","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10136410589689518204.mp4"}
+{"uid":"11048480397971711997","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":"6695366076710770640.mp4"}
+{"uid":"15491496855692855841","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the white packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray Q: immediate next step? \u003cPRED\u003eA: put the white packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray. last 20 steps: 1- put the white packet on the table 2- put the white packet on the table 3- put the white packets on the table Q: immediate next step? \u003cPRED\u003eA: put the white packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray. last 20 steps: 1- put the white packet on the table 2- put the white packet on the table 3- put the white packets on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packet on the table 2- put the white packet on the table 3- put the white packets on the table 4- put the white packets on the table 5- put the white packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the white 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":"1474198312938435733.mp4"}
+{"uid":"3648382293527065100","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray Q: immediate next step? \u003cPRED\u003eA: Put a brown packet in the rack\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put a brown packet in the rack\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer 6- put the brown packet into the organizer 7- put the brown sugar packets in the box tray 8- Put a brown packet in the rack 9- Put a brown packet in the rack 10- put the brown packet into the organizer 11- put the brown packet into the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- Put a brown packet in the rack 2- put the  packets into the organizer 3- put the  packets into the organizer 4- put the  packet into the organizer 5- Put the yellow packet in the rack\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer 6- put the brown packet into the organizer 7- put the brown sugar packets in the box tray 8- Put a brown packet in the rack 9- Put a brown packet in the rack 10- put the brown packet into the organizer 11- put the brown packet into the organizer Q: immediate next step? \u003cPRED\u003eA: Put a brown packet in the rack\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut a brown packet in the rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put a brown packet in the rack\n\u003c/PRED\u003e","video":"11984212345321696886.mp4"}
+{"uid":"4553577272098028436","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":"12034590663485962523.mp4"}
+{"uid":"5966166318192580368","text":"\u003ctask:success:discrete:True\u003e\nput the brown packets into the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the brown packets into the organizer\n\u003c/PRED\u003e","video":"2971239780945091489.mp4"}
+{"uid":"423831417340350956","text":"\u003ctask:success:discrete:False\u003e\nPut the white packet in the rack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the white packet in the rack\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer 6- put the brown packet into the organizer 7- put the brown sugar packets in the box tray 8- Put a brown packet in the rack 9- Put a brown packet in the rack 10- put the brown packet into the organizer 11- put the brown packet into the organizer 12- put the brown packet into the organizer 13- put the  packets into the organizer 14- put the  packets into the organizer 15- put the  packet into the organizer 16- Put the yellow packet in the rack 17- put the  packet into the organizer 18- put the  packets into the organizer 19- put the  packet into the organizer 20- put the  packet into the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- Put the white packet in the rack 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the white packet in the rack\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer 6- put the brown packet into the organizer 7- put the brown sugar packets in the box tray 8- Put a brown packet in the rack 9- Put a brown packet in the rack 10- put the brown packet into the organizer 11- put the brown packet into the organizer 12- put the brown packet into the organizer 13- put the  packets into the organizer 14- put the  packets into the organizer 15- put the  packet into the organizer 16- Put the yellow packet in the rack 17- put the  packet into the organizer 18- put the  packets into the organizer 19- put the  packet into the organizer 20- put the  packet into the organizer Q: immediate next step? \u003cPRED\u003eA: Put the white packet in the rack\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray Q: immediate next step? \u003cPRED\u003eA: Put the white packet in the rack\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the white packet in the rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10179103907599226747.mp4"}
+{"uid":"371183232089880590","text":"\u003ctask:success:discrete:False\u003e\nput brown packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput brown packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray. last 20 steps: 1- put the white packet on the table 2- put the white packet on the table 3- put the white packets on the table 4- put the white packet on the table 5- put the white packet on the table 6- put the white packets on the table 7- put the white packets on the table 8- put the white packet on the table Q: immediate next step? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray Q: immediate next step? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray. last 20 steps: 1- put the white packet on the table 2- put the white packet on the table 3- put the white packets on the table 4- put the white packet on the table 5- put the white packet on the table 6- put the white packets on the table 7- put the white packets on the table 8- put the white packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put brown packet on the table 2- put brown packet on the table 3- put brown packet on the table 4- put brown packet on the table 5- put brown packet on the table\n\u003c/PRED\u003e","video":"13928738433821375574.mp4"}
+{"uid":"1179696142568587714","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ngo closer to the banana. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14391009849387837346.mp4"}
+{"uid":"12854601626209652723","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer 6- put the brown packet into the organizer 7- put the brown sugar packets in the box tray 8- Put a brown packet in the rack 9- Put a brown packet in the rack 10- put the brown packet into the organizer 11- put the brown packet into the organizer 12- put the brown packet into the organizer 13- put the  packets into the organizer 14- put the  packets into the organizer 15- put the  packet into the organizer 16- Put the yellow packet in the rack 17- put the  packet into the organizer 18- put the  packets into the organizer Q: immediate next step? \u003cPRED\u003eA: put the white packet in the box tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white packet in the box 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 white packet in the box 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 white packet in the box tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray Q: immediate next step? \u003cPRED\u003eA: put the white packet in the box tray\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 box tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer 6- put the brown packet into the organizer 7- put the brown sugar packets in the box tray 8- Put a brown packet in the rack 9- Put a brown packet in the rack 10- put the brown packet into the organizer 11- put the brown packet into the organizer 12- put the brown packet into the organizer 13- put the  packets into the organizer 14- put the  packets into the organizer 15- put the  packet into the organizer 16- Put the yellow packet in the rack 17- put the  packet into the organizer 18- put the  packets into the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packet in the box tray 2- put the  packet into the organizer 3- put the  packet into the organizer 4- done\n\u003c/PRED\u003e","video":"13576783556331629292.mp4"}
+{"uid":"13294216038559976137","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the brown packet into the organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer 6- put the brown packet into the organizer 7- put the brown sugar packets in the box tray 8- Put a brown packet in the rack 9- Put a brown packet in the rack Q: immediate next step? \u003cPRED\u003eA: put the brown packet into the organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray Q: immediate next step? \u003cPRED\u003eA: put the brown packet into the organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the brown packet into the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the brown packet into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer 6- put the brown packet into the organizer 7- put the brown sugar packets in the box tray 8- Put a brown packet in the rack 9- Put a brown packet in the rack Q: next 5 steps? \u003cPRED\u003eA: 1- put the brown packet into the organizer 2- put the brown packet into the organizer 3- put the brown packet into the organizer 4- put the  packets into the organizer 5- put the  packets into the organizer\n\u003c/PRED\u003e","video":"3973933264943482332.mp4"}
+{"uid":"17057615987314575504","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer 6- put the brown packet into the organizer 7- put the brown sugar packets in the box tray 8- Put a brown packet in the rack 9- Put a brown packet in the rack 10- put the brown packet into the organizer 11- put the brown packet into the organizer 12- put the brown packet into the organizer 13- put the  packets into the organizer 14- put the  packets into the organizer 15- put the  packet into the organizer 16- Put the yellow packet in the rack 17- put the  packet into the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the  packets into the organizer 2- put the  packet into the organizer 3- put the  packet into the organizer 4- put the  packet into the organizer 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the  packets into the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer 6- put the brown packet into the organizer 7- put the brown sugar packets in the box tray 8- Put a brown packet in the rack 9- Put a brown packet in the rack 10- put the brown packet into the organizer 11- put the brown packet into the organizer 12- put the brown packet into the organizer 13- put the  packets into the organizer 14- put the  packets into the organizer 15- put the  packet into the organizer 16- Put the yellow packet in the rack 17- put the  packet into the organizer Q: immediate next step? \u003cPRED\u003eA: put the  packets into the organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the  packets into the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the  packets into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the  packets into the organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray Q: immediate next step? \u003cPRED\u003eA: put the  packets into the organizer\n\u003c/PRED\u003e","video":"438347831965827800.mp4"}
+{"uid":"10392535690939048658","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the  packet into the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the  packet into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the  packet into the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer 6- put the brown packet into the organizer 7- put the brown sugar packets in the box tray 8- Put a brown packet in the rack 9- Put a brown packet in the rack 10- put the brown packet into the organizer 11- put the brown packet into the organizer 12- put the brown packet into the organizer 13- put the  packets into the organizer 14- put the  packets into the organizer 15- put the  packet into the organizer 16- Put the yellow packet in the rack 17- put the  packet into the organizer 18- put the  packets into the organizer 19- put the  packet into the organizer 20- put the  packet into the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the  packet into the organizer 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray Q: immediate next step? \u003cPRED\u003eA: put the  packet into the organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer 6- put the brown packet into the organizer 7- put the brown sugar packets in the box tray 8- Put a brown packet in the rack 9- Put a brown packet in the rack 10- put the brown packet into the organizer 11- put the brown packet into the organizer 12- put the brown packet into the organizer 13- put the  packets into the organizer 14- put the  packets into the organizer 15- put the  packet into the organizer 16- Put the yellow packet in the rack 17- put the  packet into the organizer 18- put the  packets into the organizer 19- put the  packet into the organizer 20- put the  packet into the organizer Q: immediate next step? \u003cPRED\u003eA: put the  packet into the organizer\n\u003c/PRED\u003e","video":"16314984295523162935.mp4"}
+{"uid":"12074734339377008095","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the glass on the 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":"15687049825468708705.mp4"}
+{"uid":"9489243080982517730","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- Put a brown packet in the rack 2- put the brown packet into the organizer 3- put the brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown sugar packets in the box tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put a brown packet in the rack\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray Q: immediate next step? \u003cPRED\u003eA: Put a brown packet in the rack\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut a brown packet in the rack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put a brown packet in the rack\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut a brown packet in the rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer Q: immediate next step? \u003cPRED\u003eA: Put a brown packet in the rack\n\u003c/PRED\u003e","video":"14689697242760138063.mp4"}
+{"uid":"4660258366081381308","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the orange marker into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6676215729023349219.mp4"}
+{"uid":"7684922750515893222","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pentagon 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":"13163310621564044442.mp4"}
+{"uid":"16332583942596575471","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the red packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15361616923148695301.mp4"}
+{"uid":"3387940943339828226","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the right most strainer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10761401442860338474.mp4"}
+{"uid":"18256672797865628936","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer 6- put the brown packet into the organizer 7- put the brown sugar packets in the box tray 8- Put a brown packet in the rack 9- Put a brown packet in the rack 10- put the brown packet into the organizer 11- put the brown packet into the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the brown packet into the organizer 2- put the  packets into the organizer 3- put the  packets into the organizer 4- put the  packet into the organizer 5- Put the yellow packet in the rack\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray Q: immediate next step? \u003cPRED\u003eA: put the brown packet into the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the brown packet into the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the brown packet into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the brown packet into the organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer 6- put the brown packet into the organizer 7- put the brown sugar packets in the box tray 8- Put a brown packet in the rack 9- Put a brown packet in the rack 10- put the brown packet into the organizer 11- put the brown packet into the organizer Q: immediate next step? \u003cPRED\u003eA: put the brown packet into the organizer\n\u003c/PRED\u003e","video":"6365560595297658257.mp4"}
+{"uid":"980336411677969083","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put brown sugar packet in the box tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray Q: immediate next step? \u003cPRED\u003eA: put brown sugar packet in the box tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput brown sugar packet in the box tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put brown sugar packet in the box tray 2- put the brown packet into the organizer 3- put the brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown sugar packets in the box tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put brown sugar packet in the box tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput brown sugar packet in the box tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer Q: immediate next step? \u003cPRED\u003eA: put brown sugar packet in the box tray\n\u003c/PRED\u003e","video":"12067375511452715713.mp4"}
+{"uid":"3862609621994332344","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- put the brown packets into the organizer 2- put the  brown packet into the organizer 3- put the brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer 6- put the brown sugar packets in the box tray 7- Put a brown packet in the rack 8- Put a brown packet in the rack 9- put the brown packet into the organizer 10- put the brown packet into the organizer 11- put the brown packet into the organizer 12- put the  packets into the organizer 13- put the  packets into the organizer 14- put the  packet into the organizer 15- Put the yellow packet in the rack 16- put the  packet into the organizer 17- put the  packets into the organizer 18- put the  packet into the organizer 19- put the  packet into the organizer 20- put the  packet into the organizer 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 into the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the  packet into the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- put the brown packets into the organizer 2- put the  brown packet into the organizer 3- put the brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer 6- put the brown sugar packets in the box tray 7- Put a brown packet in the rack 8- Put a brown packet in the rack 9- put the brown packet into the organizer 10- put the brown packet into the organizer 11- put the brown packet into the organizer 12- put the  packets into the organizer 13- put the  packets into the organizer 14- put the  packet into the organizer 15- Put the yellow packet in the rack 16- put the  packet into the organizer 17- put the  packets into the organizer 18- put the  packet into the organizer 19- put the  packet into the organizer 20- put the  packet into the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"16928540076389164794.mp4"}
+{"uid":"1232845141110452401","text":"\u003ctask:success:discrete:True\u003e\nput the brown packets into the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the brown packets into the organizer\n\u003c/PRED\u003e","video":"14300346348383270263.mp4"}
+{"uid":"7890703715706502430","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ngrasp the ring binder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12785168863933408971.mp4"}
+{"uid":"16360503491539564911","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove forward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8578326136045929726.mp4"}
+{"uid":"13591220452683836274","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the cream packets in the box tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the cream packets in the box tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the cream packets in the box tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray Q: immediate next step? \u003cPRED\u003eA: put the cream packets in the box tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer 6- put the brown packet into the organizer 7- put the brown sugar packets in the box tray 8- Put a brown packet in the rack 9- Put a brown packet in the rack 10- put the brown packet into the organizer 11- put the brown packet into the organizer 12- put the brown packet into the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the cream packets in the box tray 2- put the  packets into the organizer 3- put the  packet into the organizer 4- Put the yellow packet in the rack 5- put the  packet into the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the cream packets in the box tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer 6- put the brown packet into the organizer 7- put the brown sugar packets in the box tray 8- Put a brown packet in the rack 9- Put a brown packet in the rack 10- put the brown packet into the organizer 11- put the brown packet into the organizer 12- put the brown packet into the organizer Q: immediate next step? \u003cPRED\u003eA: put the cream packets in the box tray\n\u003c/PRED\u003e","video":"11286212544289613671.mp4"}
+{"uid":"9585763463461714790","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray. last 20 steps: 1- put the white packet on the table 2- put the white packet on the table 3- put the white packets on the table 4- put the white packet on the table 5- put the white packet on the table 6- put the white packets on the table 7- put the white packets on the table 8- put the white packet on the table 9- put brown packet on the table 10- put brown packet on the table 11- put brown packet on the table 12- put brown packet on the table 13- put brown packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put brown packet on the table 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray Q: immediate next step? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray. last 20 steps: 1- put the white packet on the table 2- put the white packet on the table 3- put the white packets on the table 4- put the white packet on the table 5- put the white packet on the table 6- put the white packets on the table 7- put the white packets on the table 8- put the white packet on the table 9- put brown packet on the table 10- put brown packet on the table 11- put brown packet on the table 12- put brown packet on the table 13- put brown packet on the table Q: immediate next step? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput brown packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1066300304569439534.mp4"}
+{"uid":"2992876971876972036","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer Q: immediate next step? \u003cPRED\u003eA: put the brown packet into the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the brown packet into the organizer 2- put the brown sugar packets in the box tray 3- Put a brown packet in the rack 4- Put a brown packet in the rack 5- put the brown packet into the organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the brown packet into the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the brown packet into the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the brown packet into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray Q: immediate next step? \u003cPRED\u003eA: put the brown packet into the organizer\n\u003c/PRED\u003e","video":"17243425581079542694.mp4"}
+{"uid":"16504180565273246298","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the brown packet into the organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray Q: immediate next step? \u003cPRED\u003eA: put the brown packet into the organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer 4- put the brown packet into the organizer Q: immediate next step? \u003cPRED\u003eA: put the brown packet into the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the brown packet into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer 4- put the brown packet into the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the brown packet into the organizer 2- put the brown packet into the organizer 3- put the brown sugar packets in the box tray 4- Put a brown packet in the rack 5- Put a brown packet in the rack\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the brown packet into the organizer\n\u003c/PRED\u003e","video":"14896260146949265405.mp4"}
+{"uid":"10907382857782297768","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the brown sugar packet in the box tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer 6- put the brown packet into the organizer 7- put the brown sugar packets in the box tray 8- Put a brown packet in the rack Q: next 5 steps? \u003cPRED\u003eA: 1- put the brown sugar packet in the box tray 2- put the brown packet into the organizer 3- put the brown packet into the organizer 4- put the brown packet into the organizer 5- put the  packets into the organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the brown sugar packet in the box tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray Q: immediate next step? \u003cPRED\u003eA: put the brown sugar packet in the box tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer 6- put the brown packet into the organizer 7- put the brown sugar packets in the box tray 8- Put a brown packet in the rack Q: immediate next step? \u003cPRED\u003eA: put the brown sugar packet in the box tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the brown sugar packet in the box tray\n\u003c/PRED\u003e","video":"12281123068996156522.mp4"}
+{"uid":"9774638012823623241","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":"1319388320695565125.mp4"}
+{"uid":"17724323295136820559","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":"1305854296759388117.mp4"}
+{"uid":"5706077355719656713","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the brown packets into the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the brown packets into the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack Q: immediate next step? \u003cPRED\u003eA: put the brown packets into the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack Q: next 5 steps? \u003cPRED\u003eA: 1- put the brown packets into the organizer 2- put the  brown packet into the organizer 3- put the brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the brown packets into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the brown packets into the organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray Q: immediate next step? \u003cPRED\u003eA: put the brown packets into the organizer\n\u003c/PRED\u003e","video":"1567668098792206683.mp4"}
+{"uid":"8340447016366996877","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the  brown packet into the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the  brown packet into the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8885268890445666251.mp4"}
+{"uid":"8009756836250820456","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput spoon in the spoon holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6072307455520691772.mp4"}
+{"uid":"620733044191956182","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange in white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5728262352934549211.mp4"}
+{"uid":"12399520601067588039","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put a brown packet in the rack\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray Q: immediate next step? \u003cPRED\u003eA: Put a brown packet in the rack\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer 4- put the brown packet into the organizer Q: immediate next step? \u003cPRED\u003eA: Put a brown packet in the rack\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put a brown packet in the rack\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut a brown packet in the rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer 4- put the brown packet into the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- Put a brown packet in the rack 2- put the brown packet into the organizer 3- put the brown sugar packets in the box tray 4- Put a brown packet in the rack 5- Put a brown packet in the rack\n\u003c/PRED\u003e","video":"8788749319755898491.mp4"}
+{"uid":"5016245358427109479","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nadjust 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":"15899745693642124924.mp4"}
+{"uid":"14098934835434143423","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput apple in white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9296276411876518904.mp4"}
+{"uid":"9358422554861792683","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the duster 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":"16604778860403420482.mp4"}
+{"uid":"16273556890299735091","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer 6- put the brown packet into the organizer 7- put the brown sugar packets in the box tray 8- Put a brown packet in the rack 9- Put a brown packet in the rack Q: immediate next step? \u003cPRED\u003eA: put the brown sugar packet in the box tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer 6- put the brown packet into the organizer 7- put the brown sugar packets in the box tray 8- Put a brown packet in the rack 9- Put a brown packet in the rack Q: next 5 steps? \u003cPRED\u003eA: 1- put the brown sugar packet in the box tray 2- put the brown packet into the organizer 3- put the brown packet into the organizer 4- put the  packets into the organizer 5- put the  packets into the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the brown sugar packet in the box 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 brown sugar packet in the box tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray Q: immediate next step? \u003cPRED\u003eA: put the brown sugar packet in the box tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the brown sugar packet in the box tray\n\u003c/PRED\u003e","video":"15968685670483961779.mp4"}
+{"uid":"1160429619437242351","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the pen from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11363137422372414712.mp4"}
+{"uid":"3183850878709362765","text":"\u003ctask:success:discrete:True\u003e\nPut a brown packet in the rack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put a brown packet in the rack\n\u003c/PRED\u003e","video":"755515212704578354.mp4"}
+{"uid":"2547053763380147489","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put a brown packet in the rack\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut a brown packet in the rack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16531357486984142986.mp4"}
+{"uid":"5117714930105805113","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the brown packet into the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the brown packet into the organizer 2- put the brown packet into the organizer 3- put the brown packet into the organizer 4- put the brown sugar packets in the box tray 5- Put a brown packet in the rack\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the brown packet into the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the brown packet into the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the brown packet into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer Q: immediate next step? \u003cPRED\u003eA: put the brown packet into the organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray Q: immediate next step? \u003cPRED\u003eA: put the brown packet into the organizer\n\u003c/PRED\u003e","video":"3851648598683706688.mp4"}
+{"uid":"3196537341603092773","text":"\u003ctask:success:discrete:False\u003e\nput the brown sugar packet in the box tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the brown sugar packet in the box 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 brown sugar packet in the box tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer Q: immediate next step? \u003cPRED\u003eA: put the brown sugar packet in the box tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the brown sugar packet in the box tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the brown sugar packet in the box tray 2- put the brown sugar packets in the box tray 3- Put a brown packet in the rack 4- Put a brown packet in the rack 5- put the brown packet into the organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray Q: immediate next step? \u003cPRED\u003eA: put the brown sugar packet in the box tray\n\u003c/PRED\u003e","video":"644897898493810802.mp4"}
+{"uid":"4763682935788671323","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the black packet 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":"3196417595349935893.mp4"}
+{"uid":"15930704659500268682","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet in black container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5353554667798838824.mp4"}
+{"uid":"1189952781535737022","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the candy in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14145294220480562550.mp4"}
+{"uid":"17867723858747771040","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the cheese balls 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":"13822551623910753575.mp4"}
+{"uid":"4916430215306898344","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachio in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6185912434577761941.mp4"}
+{"uid":"17767576922489915549","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put a brown packet in the rack\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut a brown packet in the rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer 6- put the brown packet into the organizer 7- put the brown sugar packets in the box tray 8- Put a brown packet in the rack Q: next 5 steps? \u003cPRED\u003eA: 1- Put a brown packet in the rack 2- put the brown packet into the organizer 3- put the brown packet into the organizer 4- put the brown packet into the organizer 5- put the  packets into the organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray Q: immediate next step? \u003cPRED\u003eA: Put a brown packet in the rack\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer 6- put the brown packet into the organizer 7- put the brown sugar packets in the box tray 8- Put a brown packet in the rack Q: immediate next step? \u003cPRED\u003eA: Put a brown packet in the rack\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put a brown packet in the rack\n\u003c/PRED\u003e","video":"17740228655819639066.mp4"}
+{"uid":"15142035185833099444","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the middle 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":"8209490650774037703.mp4"}
+{"uid":"1322159010333522981","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the water bottle in bag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3084669341589661213.mp4"}
+{"uid":"3656594831710100853","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the tea 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":"12705340310041680132.mp4"}
+{"uid":"1025811869411361916","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the brown sugar packets in the box tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the brown sugar packets in the box tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15615522570240741860.mp4"}
+{"uid":"13067347411413805811","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the brown packet into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the brown packet into the organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer 6- put the brown packet into the organizer 7- put the brown sugar packets in the box tray 8- Put a brown packet in the rack Q: immediate next step? \u003cPRED\u003eA: put the brown packet into the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer 6- put the brown packet into the organizer 7- put the brown sugar packets in the box tray 8- Put a brown packet in the rack Q: next 5 steps? \u003cPRED\u003eA: 1- put the brown packet into the organizer 2- put the brown packet into the organizer 3- put the brown packet into the organizer 4- put the brown packet into the organizer 5- put the  packets into the organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the brown packet into the organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray Q: immediate next step? \u003cPRED\u003eA: put the brown packet into the organizer\n\u003c/PRED\u003e","video":"11613857282643539689.mp4"}
+{"uid":"1142163191632290964","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the silver object in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4692924838474981020.mp4"}
+{"uid":"7591223345520432013","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer 6- put the brown packet into the organizer 7- put the brown sugar packets in the box tray 8- Put a brown packet in the rack 9- Put a brown packet in the rack 10- put the brown packet into the organizer 11- put the brown packet into the organizer 12- put the brown packet into the organizer 13- put the  packets into the organizer 14- put the  packets into the organizer 15- put the  packet into the organizer 16- Put the yellow packet in the rack 17- put the  packet into the organizer 18- put the  packets into the organizer 19- put the  packet into the organizer 20- put the  packet into the organizer Q: immediate next step? \u003cPRED\u003eA: put the white packet in the box tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white packet in the box tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer 6- put the brown packet into the organizer 7- put the brown sugar packets in the box tray 8- Put a brown packet in the rack 9- Put a brown packet in the rack 10- put the brown packet into the organizer 11- put the brown packet into the organizer 12- put the brown packet into the organizer 13- put the  packets into the organizer 14- put the  packets into the organizer 15- put the  packet into the organizer 16- Put the yellow packet in the rack 17- put the  packet into the organizer 18- put the  packets into the organizer 19- put the  packet into the organizer 20- put the  packet into the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packet in the box tray 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray Q: immediate next step? \u003cPRED\u003eA: put the white packet in the box tray\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 box 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 box tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the white packet in the box tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17400279888086337661.mp4"}
+{"uid":"9290865647454118751","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the fruit on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3413091657297374985.mp4"}
+{"uid":"5559544577795428989","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray Q: immediate next step? \u003cPRED\u003eA: Put yellow packets in the rack\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put yellow packets in the rack\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut yellow packets in the rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put yellow packets in the rack\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer 6- put the brown packet into the organizer 7- put the brown sugar packets in the box tray 8- Put a brown packet in the rack 9- Put a brown packet in the rack 10- put the brown packet into the organizer 11- put the brown packet into the organizer 12- put the brown packet into the organizer 13- put the  packets into the organizer Q: immediate next step? \u003cPRED\u003eA: Put yellow packets in the rack\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer 6- put the brown packet into the organizer 7- put the brown sugar packets in the box tray 8- Put a brown packet in the rack 9- Put a brown packet in the rack 10- put the brown packet into the organizer 11- put the brown packet into the organizer 12- put the brown packet into the organizer 13- put the  packets into the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- Put yellow packets in the rack 2- put the  packet into the organizer 3- Put the yellow packet in the rack 4- put the  packet into the organizer 5- put the  packets into the organizer\n\u003c/PRED\u003e","video":"5073181610221684216.mp4"}
+{"uid":"10737736684294008561","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pin 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":"4756849368451825408.mp4"}
+{"uid":"5239757705311537248","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove close to the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1322268749800831288.mp4"}
+{"uid":"13476960962667511551","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the  packet into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the  packet into the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer 6- put the brown packet into the organizer 7- put the brown sugar packets in the box tray 8- Put a brown packet in the rack 9- Put a brown packet in the rack 10- put the brown packet into the organizer 11- put the brown packet into the organizer 12- put the brown packet into the organizer 13- put the  packets into the organizer 14- put the  packets into the organizer 15- put the  packet into the organizer 16- Put the yellow packet in the rack 17- put the  packet into the organizer 18- put the  packets into the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the  packet into the organizer 2- put the  packet into the organizer 3- put the  packet into the organizer 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer 6- put the brown packet into the organizer 7- put the brown sugar packets in the box tray 8- Put a brown packet in the rack 9- Put a brown packet in the rack 10- put the brown packet into the organizer 11- put the brown packet into the organizer 12- put the brown packet into the organizer 13- put the  packets into the organizer 14- put the  packets into the organizer 15- put the  packet into the organizer 16- Put the yellow packet in the rack 17- put the  packet into the organizer 18- put the  packets into the organizer Q: immediate next step? \u003cPRED\u003eA: put the  packet into the organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray Q: immediate next step? \u003cPRED\u003eA: put the  packet into the organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the  packet into the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the  packet into the organizer\n\u003c/PRED\u003e","video":"10954847898284716797.mp4"}
+{"uid":"13170872644212660426","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the tissue box into the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8683054141570637608.mp4"}
+{"uid":"14908709403230048774","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput grapes in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5469467599758041327.mp4"}
+{"uid":"14743852902831676189","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the banana on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11032562479891088645.mp4"}
+{"uid":"7862488897773105740","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":"731619467983509024.mp4"}
+{"uid":"14050798371507957512","text":"\u003ctask:success:discrete:False\u003e\nput the white packets on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white packets on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray Q: immediate next step? \u003cPRED\u003eA: put the white packets on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white packets on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray. last 20 steps: 1- put the white packet on the table 2- put the white packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packets on the table 2- put the white packet on the table 3- put the white packet on the table 4- put the white packets on the table 5- put the white packets on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray. last 20 steps: 1- put the white packet on the table 2- put the white packet on the table Q: immediate next step? \u003cPRED\u003eA: put the white packets on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the white packets on the table\n\u003c/PRED\u003e","video":"16601847658474140324.mp4"}
+{"uid":"17552087841583307510","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the  packet into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer 6- put the brown packet into the organizer 7- put the brown sugar packets in the box tray 8- Put a brown packet in the rack 9- Put a brown packet in the rack 10- put the brown packet into the organizer 11- put the brown packet into the organizer 12- put the brown packet into the organizer 13- put the  packets into the organizer 14- put the  packets into the organizer 15- put the  packet into the organizer Q: immediate next step? \u003cPRED\u003eA: put the  packet into the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the  packet into the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer 6- put the brown packet into the organizer 7- put the brown sugar packets in the box tray 8- Put a brown packet in the rack 9- Put a brown packet in the rack 10- put the brown packet into the organizer 11- put the brown packet into the organizer 12- put the brown packet into the organizer 13- put the  packets into the organizer 14- put the  packets into the organizer 15- put the  packet into the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the  packet into the organizer 2- put the  packets into the organizer 3- put the  packet into the organizer 4- put the  packet into the organizer 5- put the  packet into the organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the  packet into the organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray Q: immediate next step? \u003cPRED\u003eA: put the  packet into the organizer\n\u003c/PRED\u003e","video":"13502210206521083712.mp4"}
+{"uid":"620654461674002374","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white 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 white packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray. last 20 steps: 1- put the white packet on the table Q: immediate next step? \u003cPRED\u003eA: put the white packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray. last 20 steps: 1- put the white packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packet on the table 2- put the white packets on the table 3- put the white packet on the table 4- put the white packet on the table 5- put the white packets on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray Q: immediate next step? \u003cPRED\u003eA: put the white 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 white packet on the table\n\u003c/PRED\u003e","video":"4810468762562136736.mp4"}
+{"uid":"15983112292771080131","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the white packet in the rack\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the white packet in the rack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer 6- put the brown packet into the organizer 7- put the brown sugar packets in the box tray 8- Put a brown packet in the rack 9- Put a brown packet in the rack 10- put the brown packet into the organizer 11- put the brown packet into the organizer 12- put the brown packet into the organizer 13- put the  packets into the organizer 14- put the  packets into the organizer 15- put the  packet into the organizer 16- Put the yellow packet in the rack 17- put the  packet into the organizer 18- put the  packets into the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- Put the white packet in the rack 2- put the  packet into the organizer 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer 6- put the brown packet into the organizer 7- put the brown sugar packets in the box tray 8- Put a brown packet in the rack 9- Put a brown packet in the rack 10- put the brown packet into the organizer 11- put the brown packet into the organizer 12- put the brown packet into the organizer 13- put the  packets into the organizer 14- put the  packets into the organizer 15- put the  packet into the organizer 16- Put the yellow packet in the rack 17- put the  packet into the organizer 18- put the  packets into the organizer Q: immediate next step? \u003cPRED\u003eA: Put the white packet in the rack\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray Q: immediate next step? \u003cPRED\u003eA: Put the white packet in the rack\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the white packet in the rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the white packet in the rack\n\u003c/PRED\u003e","video":"3949302688795180712.mp4"}
+{"uid":"15555021923493447538","text":"\u003ctask:success:discrete:False\u003e\nPut the yellow packet in the rack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer 6- put the brown packet into the organizer 7- put the brown sugar packets in the box tray 8- Put a brown packet in the rack 9- Put a brown packet in the rack 10- put the brown packet into the organizer 11- put the brown packet into the organizer 12- put the brown packet into the organizer 13- put the  packets into the organizer 14- put the  packets into the organizer 15- put the  packet into the organizer 16- Put the yellow packet in the rack 17- put the  packet into the organizer 18- put the  packets into the organizer 19- put the  packet into the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- Put the yellow packet in the rack 2- put the  packet into the organizer 3- done\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 rack\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray Q: immediate next step? \u003cPRED\u003eA: Put the yellow packet in the rack\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer 6- put the brown packet into the organizer 7- put the brown sugar packets in the box tray 8- Put a brown packet in the rack 9- Put a brown packet in the rack 10- put the brown packet into the organizer 11- put the brown packet into the organizer 12- put the brown packet into the organizer 13- put the  packets into the organizer 14- put the  packets into the organizer 15- put the  packet into the organizer 16- Put the yellow packet in the rack 17- put the  packet into the organizer 18- put the  packets into the organizer 19- put the  packet into the organizer Q: immediate next step? \u003cPRED\u003eA: Put the yellow packet in the rack\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the yellow packet in the rack\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the yellow packet in the rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13604118313084125510.mp4"}
+{"uid":"16228334359079908574","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put a brown packet in the rack\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put a brown packet in the rack\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut a brown packet in the rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer 6- put the brown packet into the organizer 7- put the brown sugar packets in the box tray 8- Put a brown packet in the rack 9- Put a brown packet in the rack 10- put the brown packet into the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- Put a brown packet in the rack 2- put the brown packet into the organizer 3- put the  packets into the organizer 4- put the  packets into the organizer 5- put the  packet into the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut a brown packet in the rack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- Put brown packets in the rack 2- put the brown packets into the organizer 3- put the  brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer 6- put the brown packet into the organizer 7- put the brown sugar packets in the box tray 8- Put a brown packet in the rack 9- Put a brown packet in the rack 10- put the brown packet into the organizer Q: immediate next step? \u003cPRED\u003eA: Put a brown packet in the rack\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray Q: immediate next step? \u003cPRED\u003eA: Put a brown packet in the rack\n\u003c/PRED\u003e","video":"11496132259300318776.mp4"}
+{"uid":"11410793909932343278","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the brown 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":"16206317869623738438.mp4"}
+{"uid":"14560448663375017833","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- put the brown packets into the organizer 2- put the  brown packet into the organizer 3- put the brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer 6- put the brown sugar packets in the box tray 7- Put a brown packet in the rack 8- Put a brown packet in the rack 9- put the brown packet into the organizer 10- put the brown packet into the organizer 11- put the brown packet into the organizer 12- put the  packets into the organizer 13- put the  packets into the organizer 14- put the  packet into the organizer 15- Put the yellow packet in the rack 16- put the  packet into the organizer 17- put the  packets into the organizer 18- put the  packet into the organizer 19- put the  packet into the organizer 20- Put the white packet in the rack Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the white packet in the rack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the sugar packets into the tray. last 20 steps: 1- put the brown packets into the organizer 2- put the  brown packet into the organizer 3- put the brown packet into the organizer 4- put the brown packet into the organizer 5- put the brown packet into the organizer 6- put the brown sugar packets in the box tray 7- Put a brown packet in the rack 8- Put a brown packet in the rack 9- put the brown packet into the organizer 10- put the brown packet into the organizer 11- put the brown packet into the organizer 12- put the  packets into the organizer 13- put the  packets into the organizer 14- put the  packet into the organizer 15- Put the yellow packet in the rack 16- put the  packet into the organizer 17- put the  packets into the organizer 18- put the  packet into the organizer 19- put the  packet into the organizer 20- Put the white packet in the rack Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the white packet in the rack\n\u003c/PRED\u003e","video":"7755211474388263235.mp4"}
+{"uid":"13333400845530151878","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the blue pen into the first compartment Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7433896235148781699.mp4"}
+{"uid":"13322766546273235763","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the apple in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5223271739059283897.mp4"}
+{"uid":"8501541987315046130","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput plastic 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":"7121853917742627439.mp4"}
+{"uid":"14158859737848673045","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please restack the cups on the counter and put them back in the cup holder. . last 20 steps: 1- stack a glass 2- stack a glass 3- stack a glass 4- stack a glass 5- stack a glass 6- put stacked glass on right side stack stand Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put stacked glass on right side stack stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please restack the cups on the counter and put them back in the cup holder. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput stacked glass on right side stack 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please restack the cups on the counter and put them back in the cup holder. . last 20 steps: 1- stack a glass 2- stack a glass 3- stack a glass 4- stack a glass 5- stack a glass 6- put stacked glass on right side stack stand Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"13381635920013664022.mp4"}
+{"uid":"15700768657224763446","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the mouse box from the Whitney conference room to the dining booth. last 20 steps: 1- move to the Logitech mouse box on the table Q: immediate next step? \u003cPRED\u003eA: Move towards the mouse box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move towards the mouse box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move towards the mouse box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move the mouse box from the Whitney conference room to the dining booth Q: immediate next step? \u003cPRED\u003eA: Move towards the mouse box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove towards the mouse box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the mouse box from the Whitney conference room to the dining booth. last 20 steps: 1- move to the Logitech mouse box on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the mouse box 2- Move the mouse box away from the table 3- Exit the room 4- Move the mouse box forward 5- Move to the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove towards the mouse 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":"7138336179205880168.mp4"}
+{"uid":"5464080552657846321","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pink packet in the organiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2033359974535638785.mp4"}
+{"uid":"5418451798550285656","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please restack the cups on the counter and put them back in the cup holder. Q: immediate next step? \u003cPRED\u003eA: put stacked glass on right side stack stand\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack a glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put stacked glass on right side stack stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nstack a glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please restack the cups on the counter and put them back in the cup holder. . last 20 steps: 1- stack a glass 2- stack a glass 3- stack a glass 4- stack a glass 5- stack a glass Q: immediate next step? \u003cPRED\u003eA: put stacked glass on right side stack stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please restack the cups on the counter and put them back in the cup holder. . last 20 steps: 1- stack a glass 2- stack a glass 3- stack a glass 4- stack a glass 5- stack a glass Q: next 5 steps? \u003cPRED\u003eA: 1- put stacked glass on right side stack stand 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput stacked glass on right side stack 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 stacked glass on right side stack stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put stacked glass on right side stack stand\n\u003c/PRED\u003e","video":"17292872750236257268.mp4"}
+{"uid":"13875756462403601875","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"18253771441047056024.mp4"}
+{"uid":"16925817501547055523","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the blue pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11404988628452954532.mp4"}
+{"uid":"3005163243829550160","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the mouse box from the Whitney conference room to the dining booth. last 20 steps: 1- move to the Logitech mouse box on the table 2- pick the Logitech mouse box from the table 3- Move the mouse box away from the table 4- Exit the room 5- Move the mouse box forward 6- Move to the table Q: immediate next step? \u003cPRED\u003eA: place the Logitech mouse box on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the Logitech mouse box on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the mouse box from the Whitney conference room to the dining booth. last 20 steps: 1- move to the Logitech mouse box on the table 2- pick the Logitech mouse box from the table 3- Move the mouse box away from the table 4- Exit the room 5- Move the mouse box forward 6- Move to the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the Logitech mouse box on the table 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the Logitech mouse box on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the Logitech mouse box on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move the mouse box from the Whitney conference room to the dining booth Q: immediate next step? \u003cPRED\u003eA: place the Logitech mouse box on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the Logitech mouse box on the table\n\u003c/PRED\u003e","video":"1387748728280299322.mp4"}
+{"uid":"18403013638117252243","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the brown box on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the mouse box from the Whitney conference room to the dining booth. last 20 steps: 1- move to the Logitech mouse box on the table 2- pick the Logitech mouse box from the table 3- Move the mouse box away from the table 4- Exit the room 5- Move the mouse box forward 6- Move to the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the brown box on the table 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move the mouse box from the Whitney conference room to the dining booth Q: immediate next step? \u003cPRED\u003eA: Place the brown box on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the brown box on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the brown box on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the brown box on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the mouse box from the Whitney conference room to the dining booth. last 20 steps: 1- move to the Logitech mouse box on the table 2- pick the Logitech mouse box from the table 3- Move the mouse box away from the table 4- Exit the room 5- Move the mouse box forward 6- Move to the table Q: immediate next step? \u003cPRED\u003eA: Place the brown box on the table\n\u003c/PRED\u003e","video":"14754728515145611298.mp4"}
+{"uid":"13242090874528818154","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nMove the mouse box 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move the mouse box away from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the mouse box from the Whitney conference room to the dining booth. last 20 steps: 1- move to the Logitech mouse box on the table 2- pick the Logitech mouse box from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Move the mouse box away from the table 2- Exit the room 3- Move the mouse box forward 4- Move to the table 5- Place the mouse box on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove the mouse box away from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move the mouse box away from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move the mouse box from the Whitney conference room to the dining booth Q: immediate next step? \u003cPRED\u003eA: Move the mouse box away from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the mouse box from the Whitney conference room to the dining booth. last 20 steps: 1- move to the Logitech mouse box on the table 2- pick the Logitech mouse box from the table Q: immediate next step? \u003cPRED\u003eA: Move the mouse box away from the table\n\u003c/PRED\u003e","video":"10945110034048566264.mp4"}
+{"uid":"7999532768257500543","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the blue pen in the right side cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1259580481011890271.mp4"}
+{"uid":"8890661310740437992","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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the mouse box from the Whitney conference room to the dining booth. last 20 steps: 1- move to the Logitech mouse box on the table 2- pick the Logitech mouse box from the table 3- Move the mouse box away from the table 4- Exit the room 5- move to the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the mouse box from the Whitney conference room to the dining booth. last 20 steps: 1- move to the Logitech mouse box on the table 2- pick the Logitech mouse box from the table 3- Move the mouse box away from the table 4- Exit the room 5- move to the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move the mouse box from the Whitney conference room to the dining booth Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move to the table\n\u003c/PRED\u003e","video":"17164921519948554188.mp4"}
+{"uid":"18400984802619975808","text":"\u003ctask:success:discrete:True\u003e\nMove the mouse box 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: Move the mouse box forward\n\u003c/PRED\u003e","video":"7010461359536265560.mp4"}
+{"uid":"17377779417691469829","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: move the mouse box from the Whitney conference room to the dining booth Q: immediate next step? \u003cPRED\u003eA: Push the brown box towards the moniter\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the mouse box from the Whitney conference room to the dining booth. last 20 steps: 1- move to the Logitech mouse box on the table Q: immediate next step? \u003cPRED\u003eA: Push the brown box towards the moniter\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the mouse box from the Whitney conference room to the dining booth. last 20 steps: 1- move to the Logitech mouse box on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Push the brown box towards the moniter 2- Move the mouse box away from the table 3- Exit the room 4- Move the mouse box forward 5- Move to the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPush the brown box towards the moniter Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 brown box towards the moniter\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Push the brown box towards the moniter\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPush the brown box towards the moniter Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7115779143276218264.mp4"}
+{"uid":"2964654397468596078","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the Logitech mouse box from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the mouse box from the Whitney conference room to the dining booth. last 20 steps: 1- move to the Logitech mouse box on the table Q: immediate next step? \u003cPRED\u003eA: pick the Logitech mouse box from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the mouse box from the Whitney conference room to the dining booth. last 20 steps: 1- move to the Logitech mouse box on the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick the Logitech mouse box from the table 2- Move the mouse box away from the table 3- Exit the room 4- Move the mouse box forward 5- Move to the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move the mouse box from the Whitney conference room to the dining booth Q: immediate next step? \u003cPRED\u003eA: pick the Logitech mouse box from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the Logitech mouse box from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the Logitech mouse box from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the Logitech mouse box from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10936938655761393686.mp4"}
+{"uid":"18107314633494466169","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":"9088330793639310597.mp4"}
+{"uid":"7713164185784517528","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move straight into the hallway\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove straight into the hallway Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"312205295321726631.mp4"}
+{"uid":"8031265095264757929","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3862895308341850837.mp4"}
+{"uid":"7716756658682854694","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please restack the cups on the counter and put them back in the cup holder. . last 20 steps: 1- stack a glass Q: immediate next step? \u003cPRED\u003eA: stack a glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack a glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please restack the cups on the counter and put them back in the cup holder. . last 20 steps: 1- stack a glass Q: next 5 steps? \u003cPRED\u003eA: 1- stack a glass 2- stack a glass 3- stack a glass 4- stack a glass 5- put stacked glass on right side stack stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack a glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please restack the cups on the counter and put them back in the cup holder. Q: immediate next step? \u003cPRED\u003eA: stack a glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack a glass\n\u003c/PRED\u003e","video":"1205494686712009140.mp4"}
+{"uid":"5720840639917975788","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Go into the hallway\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGo into the hallway Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Go into the hallway\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the mouse box from the Whitney conference room to the dining booth. last 20 steps: 1- move to the Logitech mouse box on the table 2- pick the Logitech mouse box from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Go into the hallway 2- Move to the table 3- Place the mouse box on the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGo into the hallway Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move the mouse box from the Whitney conference room to the dining booth Q: immediate next step? \u003cPRED\u003eA: Go into the hallway\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the mouse box from the Whitney conference room to the dining booth. last 20 steps: 1- move to the Logitech mouse box on the table 2- pick the Logitech mouse box from the table Q: immediate next step? \u003cPRED\u003eA: Go into the hallway\n\u003c/PRED\u003e","video":"5910543781311040007.mp4"}
+{"uid":"12028753089259099809","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move the mouse box away from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove the mouse box away from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"821654548375745441.mp4"}
+{"uid":"15479356903043315983","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput cookie on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9046188811528421005.mp4"}
+{"uid":"11025701807059294181","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":"6140500292422646681.mp4"}
+{"uid":"10747560212171537843","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: move the mouse box from the Whitney conference room to the dining booth Q: immediate next step? \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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the mouse box from the Whitney conference room to the dining booth. last 20 steps: 1- move to the Logitech mouse box on the table 2- pick the Logitech mouse box from the table 3- Move the mouse box away from the table 4- Exit the room Q: immediate next step? \u003cPRED\u003eA: move to the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the mouse box from the Whitney conference room to the dining booth. last 20 steps: 1- move to the Logitech mouse box on the table 2- pick the Logitech mouse box from the table 3- Move the mouse box away from the table 4- Exit the room Q: next 5 steps? \u003cPRED\u003eA: 1- move to the table 2- done\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","video":"1093917007516968388.mp4"}
+{"uid":"17084824657228859448","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move to the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move the mouse box from the Whitney conference room to the dining booth Q: immediate next step? \u003cPRED\u003eA: Move to the table\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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the mouse box from the Whitney conference room to the dining booth. last 20 steps: 1- move to the Logitech mouse box on the table 2- pick the Logitech mouse box from the table 3- Move the mouse box away from the table 4- Exit the room Q: next 5 steps? \u003cPRED\u003eA: 1- Move to the table 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the mouse box from the Whitney conference room to the dining booth. last 20 steps: 1- move to the Logitech mouse box on the table 2- pick the Logitech mouse box from the table 3- Move the mouse box away from the table 4- Exit the room Q: immediate next step? \u003cPRED\u003eA: Move 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: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":"7769588323871242559.mp4"}
+{"uid":"1846707775879833769","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: move the mouse box from the Whitney conference room to the dining booth Q: immediate next step? \u003cPRED\u003eA: Move the mouse box forward\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the mouse box from the Whitney conference room to the dining booth. last 20 steps: 1- move to the Logitech mouse box on the table 2- pick the Logitech mouse box from the table 3- Move the mouse box away from the table 4- Exit the room Q: next 5 steps? \u003cPRED\u003eA: 1- Move the mouse box forward 2- Place the mouse box on the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move the mouse box forward\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the mouse box from the Whitney conference room to the dining booth. last 20 steps: 1- move to the Logitech mouse box on the table 2- pick the Logitech mouse box from the table 3- Move the mouse box away from the table 4- Exit the room Q: immediate next step? \u003cPRED\u003eA: Move the mouse box forward\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move the mouse box forward\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove the mouse box 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:discriminative:discrete:True\u003e\nMove the mouse box forward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13520001428771105621.mp4"}
+{"uid":"5801489748527596293","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":"4402335397592690933.mp4"}
+{"uid":"14232655011447529083","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the mouse box on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the mouse box on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the mouse box from the Whitney conference room to the dining booth. last 20 steps: 1- move to the Logitech mouse box on the table 2- pick the Logitech mouse box from the table 3- Move the mouse box away from the table 4- Exit the room 5- Move the mouse box forward Q: immediate next step? \u003cPRED\u003eA: Place the mouse box on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the mouse box from the Whitney conference room to the dining booth. last 20 steps: 1- move to the Logitech mouse box on the table 2- pick the Logitech mouse box from the table 3- Move the mouse box away from the table 4- Exit the room 5- Move the mouse box forward Q: next 5 steps? \u003cPRED\u003eA: 1- Place the mouse box on the table 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the mouse box on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the mouse box on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move the mouse box from the Whitney conference room to the dining booth Q: immediate next step? \u003cPRED\u003eA: Place the mouse box on the table\n\u003c/PRED\u003e","video":"4475628081313406626.mp4"}
+{"uid":"7118422465904621405","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the mouse box from the Whitney conference room to the dining booth. last 20 steps: 1- move to the Logitech mouse box on the table 2- pick the Logitech mouse box from the table 3- Move the mouse box away from the table Q: immediate next step? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nExit the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move the mouse box from the Whitney conference room to the dining booth Q: immediate next step? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nExit the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the mouse box from the Whitney conference room to the dining booth. last 20 steps: 1- move to the Logitech mouse box on the table 2- pick the Logitech mouse box from the table 3- Move the mouse box away from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Exit the room 2- Move the mouse box forward 3- Move to the table 4- Place the mouse box on the table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e","video":"14090231752516780641.mp4"}
+{"uid":"16079730188860220649","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":"14757911550122282794.mp4"}
+{"uid":"14248308473334072706","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the glass 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":"14540362239768042470.mp4"}
+{"uid":"11034745870095546130","text":"\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","video":"16657786105605068310.mp4"}
+{"uid":"16976691272987313303","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":"14193992152088149192.mp4"}
+{"uid":"18105128154102022847","text":"\u003ctask:success:discrete:True\u003e\npick the Logitech mouse box from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the Logitech mouse box from the table\n\u003c/PRED\u003e","video":"15797451481451264401.mp4"}
+{"uid":"3641140773821058092","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the cold brew can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6618622805052843992.mp4"}
+{"uid":"2867555049094441803","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack a glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack a glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please restack the cups on the counter and put them back in the cup holder. . last 20 steps: 1- stack a glass 2- stack a glass 3- stack a glass 4- stack a glass Q: next 5 steps? \u003cPRED\u003eA: 1- stack a glass 2- put stacked glass on right side stack stand 3- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack a glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nstack a glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please restack the cups on the counter and put them back in the cup holder. Q: immediate next step? \u003cPRED\u003eA: stack a glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please restack the cups on the counter and put them back in the cup holder. . last 20 steps: 1- stack a glass 2- stack a glass 3- stack a glass 4- stack a glass Q: immediate next step? \u003cPRED\u003eA: stack a glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack a glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9191425824612700684.mp4"}
+{"uid":"5437319493554648874","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\narrange 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":"2041283357842079572.mp4"}
+{"uid":"6111834357395649517","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pink packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6840876443494439119.mp4"}
+{"uid":"9938343202596151929","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the mouse box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the mouse box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nput the green candy into the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the mouse box from the Whitney conference room to the dining booth. last 20 steps: 1- move to the Logitech mouse box on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the mouse box 2- Move the mouse box away from the table 3- Exit the room 4- Move the mouse box forward 5- Move to the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the mouse box from the Whitney conference room to the dining booth. last 20 steps: 1- move to the Logitech mouse box on the table Q: immediate next step? \u003cPRED\u003eA: Pick up the mouse box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the mouse box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move the mouse box from the Whitney conference room to the dining booth Q: immediate next step? \u003cPRED\u003eA: Pick up the mouse box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the mouse 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":"8471277894716998733.mp4"}
+{"uid":"1141275851686730649","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nstack a glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack a glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please restack the cups on the counter and put them back in the cup holder. . last 20 steps: 1- stack a glass 2- stack a glass 3- stack a glass Q: next 5 steps? \u003cPRED\u003eA: 1- stack a glass 2- stack a glass 3- put stacked glass on right side stack stand 4- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack a glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack a glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please restack the cups on the counter and put them back in the cup holder. . last 20 steps: 1- stack a glass 2- stack a glass 3- stack a glass Q: immediate next step? \u003cPRED\u003eA: stack a glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please restack the cups on the counter and put them back in the cup holder. Q: immediate next step? \u003cPRED\u003eA: stack a glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nstack a 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":"10459298679438372272.mp4"}
+{"uid":"2348363698135033720","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":"12696637073186650820.mp4"}
+{"uid":"12146198247260551140","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nmove to the Logitech mouse box on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move the mouse box from the Whitney conference room to the dining booth Q: immediate next step? \u003cPRED\u003eA: move to the Logitech mouse box on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove to the Logitech mouse box on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the mouse box from the Whitney conference room to the dining booth. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- move to the Logitech mouse box on the table 2- pick the Logitech mouse box from the table 3- Move the mouse box away from the table 4- Exit the room 5- Move the mouse box forward\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the mouse box from the Whitney conference room to the dining booth. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: move to the Logitech mouse box on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move to the Logitech mouse box on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move to the Logitech mouse box on the table\n\u003c/PRED\u003e","video":"4805666670489967803.mp4"}
+{"uid":"4528497613957801698","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nstack a glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack a glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please restack the cups on the counter and put them back in the cup holder. Q: immediate next step? \u003cPRED\u003eA: stack a glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please restack the cups on the counter and put them back in the cup holder. . last 20 steps: 1- stack a glass 2- stack a glass Q: immediate next step? \u003cPRED\u003eA: stack a glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please restack the cups on the counter and put them back in the cup holder. . last 20 steps: 1- stack a glass 2- stack a glass Q: next 5 steps? \u003cPRED\u003eA: 1- stack a glass 2- stack a glass 3- stack a glass 4- put stacked glass on right side stack stand 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack a glass\n\u003c/PRED\u003e","video":"5741315461762768214.mp4"}
+{"uid":"1595166072688213277","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the spoons in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14890349901479254585.mp4"}
+{"uid":"10564580674921304794","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"4884207178131463240.mp4"}
+{"uid":"15712288465246025215","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the mouse box from the Whitney conference room to the dining booth. last 20 steps: 1- move to the Logitech mouse box on the table 2- pick the Logitech mouse box from the table Q: next 5 steps? \u003cPRED\u003eA: 1- exit the room 2- Move to the table 3- Place the mouse box on the table 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move the mouse box from the Whitney conference room to the dining booth Q: immediate next step? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the mouse box from the Whitney conference room to the dining booth. last 20 steps: 1- move to the Logitech mouse box on the table 2- pick the Logitech mouse box from the table Q: immediate next step? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nexit the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nexit the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13009375169652134705.mp4"}
+{"uid":"105123450879742956","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":"17327233528344110554.mp4"}
+{"uid":"2416683753317705345","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"903673045657036075.mp4"}
+{"uid":"11860589230974353053","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Go towards the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move the mouse box from the Whitney conference room to the dining booth Q: immediate next step? \u003cPRED\u003eA: Go towards the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGo towards the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED: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 towards the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the mouse box from the Whitney conference room to the dining booth. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Go towards the table 2- pick the Logitech mouse box from the table 3- Move the mouse box away from the table 4- Exit the room 5- Move the mouse box forward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGo towards the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the mouse box from the Whitney conference room to the dining booth. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Go towards the table\n\u003c/PRED\u003e","video":"1521977570760106586.mp4"}
+{"uid":"4402225115348519811","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: move the mouse box from the Whitney conference room to the dining booth Q: immediate next step? \u003cPRED\u003eA: Pick up the brown box from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the brown box from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the mouse box from the Whitney conference room to the dining booth. last 20 steps: 1- move to the Logitech mouse box on the table Q: immediate next step? \u003cPRED\u003eA: Pick up the brown box from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the brown box from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the brown box from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the mouse box from the Whitney conference room to the dining booth. last 20 steps: 1- move to the Logitech mouse box on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the brown box from the table 2- Move the mouse box away from the table 3- Exit the room 4- Move the mouse box forward 5- Move to the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the brown box from the table\n\u003c/PRED\u003e","video":"8309362069183213454.mp4"}
+{"uid":"9553127895333593568","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace two green 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":"14902957947507655846.mp4"}
+{"uid":"6749623714000775027","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Go towards the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Go towards the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the mouse box from the Whitney conference room to the dining booth. last 20 steps: 1- move to the Logitech mouse box on the table 2- pick the Logitech mouse box from the table 3- Move the mouse box away from the table 4- Exit the room 5- Move the mouse box forward Q: immediate next step? \u003cPRED\u003eA: Go towards the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the mouse box from the Whitney conference room to the dining booth. last 20 steps: 1- move to the Logitech mouse box on the table 2- pick the Logitech mouse box from the table 3- Move the mouse box away from the table 4- Exit the room 5- Move the mouse box forward Q: next 5 steps? \u003cPRED\u003eA: 1- Go towards the table 2- Place the mouse box on the table 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGo towards the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED: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 towards the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move the mouse box from the Whitney conference room to the dining booth Q: immediate next step? \u003cPRED\u003eA: Go towards the table\n\u003c/PRED\u003e","video":"12352190255015785834.mp4"}
+{"uid":"707852714746028819","text":"\u003ctask:success:discrete:True\u003e\nGo into the hallway Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Go into the hallway\n\u003c/PRED\u003e","video":"10960685919662262378.mp4"}
+{"uid":"10403097637479066362","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the brown object 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":"10254747676897939464.mp4"}
+{"uid":"12180066318952796473","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":"17452397657068478842.mp4"}
+{"uid":"4645104191694638761","text":"\u003ctask:success:discrete:False\u003e\nMove straight into the hallway Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move straight into the hallway\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove straight into the hallway Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move straight into the hallway\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the mouse box from the Whitney conference room to the dining booth. last 20 steps: 1- move to the Logitech mouse box on the table 2- pick the Logitech mouse box from the table 3- Move the mouse box away from the table 4- Exit the room Q: immediate next step? \u003cPRED\u003eA: Move straight into the hallway\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the mouse box from the Whitney conference room to the dining booth. last 20 steps: 1- move to the Logitech mouse box on the table 2- pick the Logitech mouse box from the table 3- Move the mouse box away from the table 4- Exit the room Q: next 5 steps? \u003cPRED\u003eA: 1- Move straight into the hallway 2- Move to the table 3- Place the mouse box on the table 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move the mouse box from the Whitney conference room to the dining booth Q: immediate next step? \u003cPRED\u003eA: Move straight into the hallway\n\u003c/PRED\u003e","video":"12286677730634604067.mp4"}
+{"uid":"13227590637343897552","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pista in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"488979157957988366.mp4"}
+{"uid":"8424465889403731161","text":"\u003ctask:success:discrete:True\u003e\nput the blue pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the blue pen in the pen holder\n\u003c/PRED\u003e","video":"5064240198516966487.mp4"}
+{"uid":"17885885947563394604","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the blue pens in one tin and the black pens in the other tin. last 20 steps: 1- put the black pen in the pen holder 2- put the two black pen in the pen holder 3- put the blue pen in the pen holder 4- put the blue pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the blue pens in one tin and the black pens in the other tin. last 20 steps: 1- put the black pen in the pen holder 2- put the two black pen in the pen holder 3- put the blue pen in the pen holder 4- put the blue pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue pen in the pen holder 2- put the blue pen in the pen holder 3- put the blue pen in the pen holder 4- put the black pen in the pen holder 5- put the black pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the blue pens in one tin and the black pens in the other tin Q: immediate next step? \u003cPRED\u003eA: put the blue pen in the pen holder\n\u003c/PRED\u003e","video":"3347043522126356683.mp4"}
+{"uid":"5530066052878583869","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the blue pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11423028306335111779.mp4"}
+{"uid":"4229140017231876656","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the blue pens in one tin and the black pens in the other tin. last 20 steps: 1- put the black pen in the pen holder 2- put the two black pen in the pen holder 3- put the blue pen in the pen holder 4- put the blue pen in the pen holder 5- put the blue pen in the pen holder 6- put the blue pen in the pen holder 7- put the blue pen in the pen holder 8- put the black pen in the pen holder 9- put the black pen in the pen holder 10- put the black pen in the pen holder 11- put the black pen in the pen holder 12- put the black pen in the pen holder 13- put the blue pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue pen in the pen holder 2- put the blue pen in the pen holder 3- put the black pen in the pen holder 4- put the black pen in the pen holder 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the blue pens in one tin and the black pens in the other tin Q: immediate next step? \u003cPRED\u003eA: put the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the blue pens in one tin and the black pens in the other tin. last 20 steps: 1- put the black pen in the pen holder 2- put the two black pen in the pen holder 3- put the blue pen in the pen holder 4- put the blue pen in the pen holder 5- put the blue pen in the pen holder 6- put the blue pen in the pen holder 7- put the blue pen in the pen holder 8- put the black pen in the pen holder 9- put the black pen in the pen holder 10- put the black pen in the pen holder 11- put the black pen in the pen holder 12- put the black pen in the pen holder 13- put the blue pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the blue pen in the pen holder\n\u003c/PRED\u003e","video":"15019151074087123067.mp4"}
+{"uid":"16925779886426104202","text":"\u003ctask:success:discrete:True\u003e\nput the two black pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the two black pen in the pen holder\n\u003c/PRED\u003e","video":"8925952667061420802.mp4"}
+{"uid":"9424626825084679125","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packets 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":"2942561730363414820.mp4"}
+{"uid":"11140710337193905913","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the blue pens in one tin and the black pens in the other tin. last 20 steps: 1- put the black pen in the pen holder 2- put the two black pen in the pen holder 3- put the blue pen in the pen holder 4- put the blue pen in the pen holder 5- put the blue pen in the pen holder 6- put the blue pen in the pen holder 7- put the blue pen in the pen holder 8- put the black pen in the pen holder 9- put the black pen in the pen holder 10- put the black pen in the pen holder 11- put the black pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the black pen in the pen holder 2- put the blue pen in the pen holder 3- put the blue pen in the pen holder 4- put the blue pen in the pen holder 5- put the black pen in the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the blue pens in one tin and the black pens in the other tin. last 20 steps: 1- put the black pen in the pen holder 2- put the two black pen in the pen holder 3- put the blue pen in the pen holder 4- put the blue pen in the pen holder 5- put the blue pen in the pen holder 6- put the blue pen in the pen holder 7- put the blue pen in the pen holder 8- put the black pen in the pen holder 9- put the black pen in the pen holder 10- put the black pen in the pen holder 11- put the black pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the black pen in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the blue pens in one tin and the black pens in the other tin Q: immediate next step? \u003cPRED\u003eA: put the black pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the black pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the black pen in the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the black pen in the pen holder\n\u003c/PRED\u003e","video":"2953344512234434449.mp4"}
+{"uid":"12978679156149681023","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nadjust the pen Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17386251916273835544.mp4"}
+{"uid":"17343489428712072306","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput grapes on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"116031474053660854.mp4"}
+{"uid":"4523854134836519703","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pistachios in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11514099975549385680.mp4"}
+{"uid":"7085053133136679583","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the blue pens in one tin and the black pens in the other tin. last 20 steps: 1- put the black pen in the pen holder 2- put the two black pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the blue pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the blue pens in one tin and the black pens in the other tin. last 20 steps: 1- put the black pen in the pen holder 2- put the two black pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue pen in the pen holder 2- put the blue pen in the pen holder 3- put the blue pen in the pen holder 4- put the blue pen in the pen holder 5- put the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the blue pens in one tin and the black pens in the other tin Q: immediate next step? \u003cPRED\u003eA: put the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue pen in the pen holder\n\u003c/PRED\u003e","video":"14277326133844550016.mp4"}
+{"uid":"6061516841252625918","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the black pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the black pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8238193899392513399.mp4"}
+{"uid":"4309055668225533416","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":"16179786963345433397.mp4"}
+{"uid":"10189704975282648145","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":"15500038586580615375.mp4"}
+{"uid":"5935522475884293375","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the black pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the black pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10213102017772405497.mp4"}
+{"uid":"15895699279881046602","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the blue pens in one tin and the black pens in the other tin Q: immediate next step? \u003cPRED\u003eA: put the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the blue pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the blue pens in one tin and the black pens in the other tin. last 20 steps: 1- put the black pen in the pen holder 2- put the two black pen in the pen holder 3- put the blue pen in the pen holder 4- put the blue pen in the pen holder 5- put the blue pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the blue pens in one tin and the black pens in the other tin. last 20 steps: 1- put the black pen in the pen holder 2- put the two black pen in the pen holder 3- put the blue pen in the pen holder 4- put the blue pen in the pen holder 5- put the blue pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue pen in the pen holder 2- put the blue pen in the pen holder 3- put the black pen in the pen holder 4- put the black pen in the pen holder 5- put the black pen in the pen holder\n\u003c/PRED\u003e","video":"2130580660146100503.mp4"}
+{"uid":"14816401105619199414","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the blue pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"284457821219054801.mp4"}
+{"uid":"8676736853622019917","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npull the brown 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":"13357826210928683316.mp4"}
+{"uid":"2350731993095831641","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the black pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the blue pens in one tin and the black pens in the other tin. last 20 steps: 1- put the black pen in the pen holder 2- put the two black pen in the pen holder 3- put the blue pen in the pen holder 4- put the blue pen in the pen holder 5- put the blue pen in the pen holder 6- put the blue pen in the pen holder 7- put the blue pen in the pen holder 8- put the black pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the black pen in the pen holder 2- put the black pen in the pen holder 3- put the black pen in the pen holder 4- put the black pen in the pen holder 5- put the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the blue pens in one tin and the black pens in the other tin Q: immediate next step? \u003cPRED\u003eA: put the black pen in the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the blue pens in one tin and the black pens in the other tin. last 20 steps: 1- put the black pen in the pen holder 2- put the two black pen in the pen holder 3- put the blue pen in the pen holder 4- put the blue pen in the pen holder 5- put the blue pen in the pen holder 6- put the blue pen in the pen holder 7- put the blue pen in the pen holder 8- put the black pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the black pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the black pen in the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the black pen in the pen holder\n\u003c/PRED\u003e","video":"12117543551302531771.mp4"}
+{"uid":"6066510859350785272","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the blue pens in one tin and the black pens in the other tin. last 20 steps: 1- put the black pen in the pen holder 2- put the two black pen in the pen holder 3- put the blue pen in the pen holder 4- put the blue pen in the pen holder 5- put the blue pen in the pen holder 6- put the blue pen in the pen holder 7- put the blue pen in the pen holder 8- put the black pen in the pen holder 9- put the black pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the black pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the black pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the black pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the black pen in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the blue pens in one tin and the black pens in the other tin. last 20 steps: 1- put the black pen in the pen holder 2- put the two black pen in the pen holder 3- put the blue pen in the pen holder 4- put the blue pen in the pen holder 5- put the blue pen in the pen holder 6- put the blue pen in the pen holder 7- put the blue pen in the pen holder 8- put the black pen in the pen holder 9- put the black pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the black pen in the pen holder 2- put the black pen in the pen holder 3- put the black pen in the pen holder 4- put the blue pen in the pen holder 5- put the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the black pen in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the blue pens in one tin and the black pens in the other tin Q: immediate next step? \u003cPRED\u003eA: put the black pen in the pen holder\n\u003c/PRED\u003e","video":"6447682315646314912.mp4"}
+{"uid":"13689173992906678430","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the third cup inside the cups Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5347669607200332223.mp4"}
+{"uid":"12802020885070567866","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the blue pens in one tin and the black pens in the other tin. last 20 steps: 1- put the black pen in the pen holder 2- put the two black pen in the pen holder 3- put the blue pen in the pen holder 4- put the blue pen in the pen holder 5- put the blue pen in the pen holder 6- put the blue pen in the pen holder 7- put the blue pen in the pen holder 8- put the black pen in the pen holder 9- put the black pen in the pen holder 10- put the black pen in the pen holder 11- put the black pen in the pen holder 12- put the black pen in the pen holder 13- put the blue pen in the pen holder 14- put the blue pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the blue pens in one tin and the black pens in the other tin Q: immediate next step? \u003cPRED\u003eA: put the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the blue pens in one tin and the black pens in the other tin. last 20 steps: 1- put the black pen in the pen holder 2- put the two black pen in the pen holder 3- put the blue pen in the pen holder 4- put the blue pen in the pen holder 5- put the blue pen in the pen holder 6- put the blue pen in the pen holder 7- put the blue pen in the pen holder 8- put the black pen in the pen holder 9- put the black pen in the pen holder 10- put the black pen in the pen holder 11- put the black pen in the pen holder 12- put the black pen in the pen holder 13- put the blue pen in the pen holder 14- put the blue pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue pen in the pen holder 2- put the black pen in the pen holder 3- put the black pen in the pen holder 4- done\n\u003c/PRED\u003e","video":"5782037517107106163.mp4"}
+{"uid":"2918380290907965714","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the yellow stone in the paper bag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14654743359495451284.mp4"}
+{"uid":"16101703307613908808","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the blue pens in one tin and the black pens in the other tin Q: immediate next step? \u003cPRED\u003eA: put the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the blue pens in one tin and the black pens in the other tin. last 20 steps: 1- put the black pen in the pen holder 2- put the two black pen in the pen holder 3- put the blue pen in the pen holder 4- put the blue pen in the pen holder 5- put the blue pen in the pen holder 6- put the blue pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue pen in the pen holder 2- put the black pen in the pen holder 3- put the black pen in the pen holder 4- put the black pen in the pen holder 5- put the black pen in the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the blue pens in one tin and the black pens in the other tin. last 20 steps: 1- put the black pen in the pen holder 2- put the two black pen in the pen holder 3- put the blue pen in the pen holder 4- put the blue pen in the pen holder 5- put the blue pen in the pen holder 6- put the blue pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue pen in the pen holder\n\u003c/PRED\u003e","video":"1809992143398951496.mp4"}
+{"uid":"15468125392595911781","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the black pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the black pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5733956338603157425.mp4"}
+{"uid":"3538085602739264054","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the blue pens in one tin and the black pens in the other tin Q: immediate next step? \u003cPRED\u003eA: put the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the blue pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the blue pens in one tin and the black pens in the other tin. last 20 steps: 1- put the black pen in the pen holder 2- put the two black pen in the pen holder 3- put the blue pen in the pen holder 4- put the blue pen in the pen holder 5- put the blue pen in the pen holder 6- put the blue pen in the pen holder 7- put the blue pen in the pen holder 8- put the black pen in the pen holder 9- put the black pen in the pen holder 10- put the black pen in the pen holder 11- put the black pen in the pen holder 12- put the black pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the blue pens in one tin and the black pens in the other tin. last 20 steps: 1- put the black pen in the pen holder 2- put the two black pen in the pen holder 3- put the blue pen in the pen holder 4- put the blue pen in the pen holder 5- put the blue pen in the pen holder 6- put the blue pen in the pen holder 7- put the blue pen in the pen holder 8- put the black pen in the pen holder 9- put the black pen in the pen holder 10- put the black pen in the pen holder 11- put the black pen in the pen holder 12- put the black pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue pen in the pen holder 2- put the blue pen in the pen holder 3- put the blue pen in the pen holder 4- put the black pen in the pen holder 5- put the black pen in the pen holder\n\u003c/PRED\u003e","video":"14645082883411261350.mp4"}
+{"uid":"633480137748189286","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the  packets into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1301139909639595220.mp4"}
+{"uid":"3859909320176612920","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the orange pen into the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15197760990313133938.mp4"}
+{"uid":"15917794792829653428","text":"\u003ctask:success:discrete:True\u003e\nput the blue pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the blue pen in the pen holder\n\u003c/PRED\u003e","video":"3296307681586586894.mp4"}
+{"uid":"4778640065073502986","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the blue pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17527207879188450923.mp4"}
+{"uid":"13946464474441774406","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the black pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the blue pens in one tin and the black pens in the other tin. last 20 steps: 1- put the black pen in the pen holder 2- put the two black pen in the pen holder 3- put the blue pen in the pen holder 4- put the blue pen in the pen holder 5- put the blue pen in the pen holder 6- put the blue pen in the pen holder 7- put the blue pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the black pen in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the blue pens in one tin and the black pens in the other tin Q: immediate next step? \u003cPRED\u003eA: put the black pen in the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the black pen in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the blue pens in one tin and the black pens in the other tin. last 20 steps: 1- put the black pen in the pen holder 2- put the two black pen in the pen holder 3- put the blue pen in the pen holder 4- put the blue pen in the pen holder 5- put the blue pen in the pen holder 6- put the blue pen in the pen holder 7- put the blue pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the black pen in the pen holder 2- put the black pen in the pen holder 3- put the black pen in the pen holder 4- put the black pen in the pen holder 5- put the black pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the black pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the black pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8038198361083897520.mp4"}
+{"uid":"9289309432287183507","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the black pen in the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the blue pens in one tin and the black pens in the other tin. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the black pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the black pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the blue pens in one tin and the black pens in the other tin Q: immediate next step? \u003cPRED\u003eA: put the black pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the black pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the blue pens in one tin and the black pens in the other tin. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the black pen in the pen holder 2- put the two black pen in the pen holder 3- put the blue pen in the pen holder 4- put the blue pen in the pen holder 5- put the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the black pen in the pen holder\n\u003c/PRED\u003e","video":"15253566418813247208.mp4"}
+{"uid":"15130408589446847895","text":"\u003ctask:success:discrete:True\u003e\nput the black pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the black pen in the pen holder\n\u003c/PRED\u003e","video":"17985151635752277368.mp4"}
+{"uid":"13952793174258947027","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the blue pens in one tin and the black pens in the other tin. last 20 steps: 1- put the black pen in the pen holder 2- put the two black pen in the pen holder 3- put the blue pen in the pen holder 4- put the blue pen in the pen holder 5- put the blue pen in the pen holder 6- put the blue pen in the pen holder 7- put the blue pen in the pen holder 8- put the black pen in the pen holder 9- put the black pen in the pen holder 10- put the black pen in the pen holder 11- put the black pen in the pen holder 12- put the black pen in the pen holder 13- put the blue pen in the pen holder 14- put the blue pen in the pen holder 15- put the blue pen in the pen holder 16- put the black pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the black pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the black pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the black pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the blue pens in one tin and the black pens in the other tin. last 20 steps: 1- put the black pen in the pen holder 2- put the two black pen in the pen holder 3- put the blue pen in the pen holder 4- put the blue pen in the pen holder 5- put the blue pen in the pen holder 6- put the blue pen in the pen holder 7- put the blue pen in the pen holder 8- put the black pen in the pen holder 9- put the black pen in the pen holder 10- put the black pen in the pen holder 11- put the black pen in the pen holder 12- put the black pen in the pen holder 13- put the blue pen in the pen holder 14- put the blue pen in the pen holder 15- put the blue pen in the pen holder 16- put the black pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the black pen in the pen holder 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the black pen in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the blue pens in one tin and the black pens in the other tin Q: immediate next step? \u003cPRED\u003eA: put the black pen in the pen holder\n\u003c/PRED\u003e","video":"17619401946074191650.mp4"}
+{"uid":"2913815863879642767","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove the chair towards 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","video":"6905067389814578301.mp4"}
+{"uid":"13514880066236447481","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":"2452093277090786750.mp4"}
+{"uid":"8717452569154711900","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the two black pen in the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the blue pens in one tin and the black pens in the other tin. last 20 steps: 1- put the black pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the two black pen in the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the two black pen in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the blue pens in one tin and the black pens in the other tin Q: immediate next step? \u003cPRED\u003eA: put the two black pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the two 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the blue pens in one tin and the black pens in the other tin. last 20 steps: 1- put the black pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the two black pen in the pen holder 2- put the blue pen in the pen holder 3- put the blue pen in the pen holder 4- put the blue pen in the pen holder 5- put the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the two 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":"17490178800578631995.mp4"}
+{"uid":"9647794114968690442","text":"\u003ctask:success:discrete:True\u003e\nput the black pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the blue pens in one tin and the black pens in the other tin. last 20 steps: 1- put the black pen in the pen holder 2- put the two black pen in the pen holder 3- put the blue pen in the pen holder 4- put the blue pen in the pen holder 5- put the blue pen in the pen holder 6- put the blue pen in the pen holder 7- put the blue pen in the pen holder 8- put the black pen in the pen holder 9- put the black pen in the pen holder 10- put the black pen in the pen holder 11- put the black pen in the pen holder 12- put the black pen in the pen holder 13- put the blue pen in the pen holder 14- put the blue pen in the pen holder 15- put the blue pen in the pen holder 16- put the black pen in the pen holder 17- put the black pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the blue pens in one tin and the black pens in the other tin. last 20 steps: 1- put the black pen in the pen holder 2- put the two black pen in the pen holder 3- put the blue pen in the pen holder 4- put the blue pen in the pen holder 5- put the blue pen in the pen holder 6- put the blue pen in the pen holder 7- put the blue pen in the pen holder 8- put the black pen in the pen holder 9- put the black pen in the pen holder 10- put the black pen in the pen holder 11- put the black pen in the pen holder 12- put the black pen in the pen holder 13- put the blue pen in the pen holder 14- put the blue pen in the pen holder 15- put the blue pen in the pen holder 16- put the black pen in the pen holder 17- put the black pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the black pen in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the blue pens in one tin and the black pens in the other tin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"9354533347837842436.mp4"}
+{"uid":"12094773335727611080","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the blue pens in one tin and the black pens in the other tin. last 20 steps: 1- put the black pen in the pen holder 2- put the two black pen in the pen holder 3- put the blue pen in the pen holder 4- put the blue pen in the pen holder 5- put the blue pen in the pen holder 6- put the blue pen in the pen holder 7- put the blue pen in the pen holder 8- put the black pen in the pen holder 9- put the black pen in the pen holder 10- put the black pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the black pen in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the blue pens in one tin and the black pens in the other tin. last 20 steps: 1- put the black pen in the pen holder 2- put the two black pen in the pen holder 3- put the blue pen in the pen holder 4- put the blue pen in the pen holder 5- put the blue pen in the pen holder 6- put the blue pen in the pen holder 7- put the blue pen in the pen holder 8- put the black pen in the pen holder 9- put the black pen in the pen holder 10- put the black pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the black pen in the pen holder 2- put the black pen in the pen holder 3- put the blue pen in the pen holder 4- put the blue pen in the pen holder 5- put the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the black pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the black pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the blue pens in one tin and the black pens in the other tin Q: immediate next step? \u003cPRED\u003eA: put the black pen in the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the black pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the black pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11183340461783177941.mp4"}
+{"uid":"16045902651025713962","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white packet into the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14847634360078810668.mp4"}
+{"uid":"5979093275863545195","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nAdjust the bag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1805783014173484060.mp4"}
+{"uid":"9327302301449405290","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the blue pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1275418565414426162.mp4"}
+{"uid":"15169804818448681260","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace blue white packet in organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13122791501871300892.mp4"}
+{"uid":"10172694516849143408","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":"2519575008011523608.mp4"}
+{"uid":"16681416616116245002","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the black pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the black pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3211339583490016386.mp4"}
+{"uid":"17229509390742536578","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the blue pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4740688369760112649.mp4"}
+{"uid":"12971406232594772373","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the black pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the black pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7858205901820269043.mp4"}
+{"uid":"3668778262664112236","text":"\u003ctask:success:discrete:False\u003e\nput the blue pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the blue pens in one tin and the black pens in the other tin. last 20 steps: 1- put the black pen in the pen holder 2- put the two black pen in the pen holder 3- put the blue pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the blue pens in one tin and the black pens in the other tin Q: immediate next step? \u003cPRED\u003eA: put the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the blue pens in one tin and the black pens in the other tin. last 20 steps: 1- put the black pen in the pen holder 2- put the two black pen in the pen holder 3- put the blue pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue pen in the pen holder 2- put the blue pen in the pen holder 3- put the blue pen in the pen holder 4- put the blue pen in the pen holder 5- put the black pen in the pen holder\n\u003c/PRED\u003e","video":"3716298002517545373.mp4"}
+{"uid":"2616060462162405393","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the black pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the black pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the black pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the black pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the blue pens in one tin and the black pens in the other tin. last 20 steps: 1- put the black pen in the pen holder 2- put the two black pen in the pen holder 3- put the blue pen in the pen holder 4- put the blue pen in the pen holder 5- put the blue pen in the pen holder 6- put the blue pen in the pen holder 7- put the blue pen in the pen holder 8- put the black pen in the pen holder 9- put the black pen in the pen holder 10- put the black pen in the pen holder 11- put the black pen in the pen holder 12- put the black pen in the pen holder 13- put the blue pen in the pen holder 14- put the blue pen in the pen holder 15- put the blue pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the black pen in the pen holder 2- put the black pen in the pen holder 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the blue pens in one tin and the black pens in the other tin Q: immediate next step? \u003cPRED\u003eA: put the black pen in the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the blue pens in one tin and the black pens in the other tin. last 20 steps: 1- put the black pen in the pen holder 2- put the two black pen in the pen holder 3- put the blue pen in the pen holder 4- put the blue pen in the pen holder 5- put the blue pen in the pen holder 6- put the blue pen in the pen holder 7- put the blue pen in the pen holder 8- put the black pen in the pen holder 9- put the black pen in the pen holder 10- put the black pen in the pen holder 11- put the black pen in the pen holder 12- put the black pen in the pen holder 13- put the blue pen in the pen holder 14- put the blue pen in the pen holder 15- put the blue pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the black pen in the pen holder\n\u003c/PRED\u003e","video":"2904362093064173680.mp4"}
+{"uid":"11570051956668966133","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput two sticky notes in the glass tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16480315753343361980.mp4"}
+{"uid":"7117246367974243124","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room 6- go to the recycle bin. 7- drop the popcorn packet in the recycle bin. 8- Move to the rack 9- go closer to the blue wrapper in the tray. 10- Move towards the blue chocolate in the rack 11- Move the black tray backward slightly 12- grab the blue wrapper. 13- Move the tray to left 14- Pick up the blue wrap 15- exit the room. 16- Move ahead 17- Move inside the room 18- drop the blue wrapper on the left table. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room 6- go to the recycle bin. 7- drop the popcorn packet in the recycle bin. 8- Move to the rack 9- go closer to the blue wrapper in the tray. 10- Move towards the blue chocolate in the rack 11- Move the black tray backward slightly 12- grab the blue wrapper. 13- Move the tray to left 14- Pick up the blue wrap 15- exit the room. 16- Move ahead 17- Move inside the room 18- drop the blue wrapper on the left table. Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the blue wrapper on the left table. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the blue wrapper on the left table.\n\u003c/PRED\u003e","video":"7908673053618754892.mp4"}
+{"uid":"4903334333073205737","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move towards the middle bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room Q: immediate next step? \u003cPRED\u003eA: Move towards the middle bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. Q: immediate next step? \u003cPRED\u003eA: Move towards the middle bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the middle bin 2- drop the popcorn packet in the recycle bin. 3- Move to the rack 4- go closer to the blue wrapper in the tray. 5- Move towards the blue chocolate in the rack\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move towards the middle bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove towards the middle bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove towards the middle bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9426489860319016076.mp4"}
+{"uid":"10734679563531694108","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the candy  in the organiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14181576983075465159.mp4"}
+{"uid":"17126872651415746315","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the cheese balls snack packet into the bin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop the cheese balls snack packet into the bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2330631196372335329.mp4"}
+{"uid":"7544041281840650217","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the yellow 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":"17184574006525854561.mp4"}
+{"uid":"17299804909781594139","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the sea salt 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":"2654484758286937315.mp4"}
+{"uid":"1107408247963696939","text":"\u003ctask:success:discrete:True\u003e\ngrab the blue wrapper. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: grab the blue wrapper.\n\u003c/PRED\u003e","video":"15640460690288326222.mp4"}
+{"uid":"14172845972926289617","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move straight in the hallway\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove straight in the hallway Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14026607002393653284.mp4"}
+{"uid":"5127417643421022508","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nExit the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11293811375105045690.mp4"}
+{"uid":"6216419772311917474","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":"3199215153338868462.mp4"}
+{"uid":"17424625613565345619","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":"13227126925641503426.mp4"}
+{"uid":"10994135562732562784","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":"12227821965705457390.mp4"}
+{"uid":"7625975505002307391","text":"\u003ctask:success:discrete:False\u003e\nmove away from the table. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move away from the table.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table Q: immediate next step? \u003cPRED\u003eA: move away from the table.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table Q: next 5 steps? \u003cPRED\u003eA: 1- move away from the table. 2- Drive forward 3- Enter the room 4- go to the recycle bin. 5- drop the popcorn packet in the recycle bin.\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: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. Q: immediate next step? \u003cPRED\u003eA: move away from the table.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove away from the table. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8985276238431876451.mp4"}
+{"uid":"12072551916064676399","text":"\u003ctask:success:discrete:True\u003e\nPick up the popcorn pack from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the popcorn pack from the table\n\u003c/PRED\u003e","video":"5724064102376290364.mp4"}
+{"uid":"1927025014275141955","text":"\u003ctask:success:discrete:True\u003e\ngo straight into the hallway. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: go straight into the hallway.\n\u003c/PRED\u003e","video":"3350329266192035915.mp4"}
+{"uid":"13202553141743174347","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the blue wrap\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the blue wrap Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8860091980034045063.mp4"}
+{"uid":"4632617385725033060","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":"2788507401625920933.mp4"}
+{"uid":"2358378512239292182","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove the packet near the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17140921968337206928.mp4"}
+{"uid":"9270807106207757692","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the pop corn packet\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the pop corn 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","video":"16521474797849320175.mp4"}
+{"uid":"14504546562255069668","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the two green candies in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"355328678874587349.mp4"}
+{"uid":"13740282174882006728","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nExit the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16486771637791992150.mp4"}
+{"uid":"17872395627034428744","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the popcorn packet from the table.\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the popcorn packet from the table. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2543310210014833576.mp4"}
+{"uid":"4980985303867152955","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput white 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":"2523982411276457930.mp4"}
+{"uid":"17098511407917014217","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room 6- go to the recycle bin. 7- drop the popcorn packet in the recycle bin. 8- Move to the rack 9- go closer to the blue wrapper in the tray. 10- Move towards the blue chocolate in the rack 11- Move the black tray backward slightly 12- grab the blue wrapper. 13- Move the tray to left 14- Pick up the blue wrap 15- exit the room. 16- Move ahead 17- Move inside the room 18- Move to the leftmost table 19- Place the blue chocolate on the table Q: immediate next step? \u003cPRED\u003eA: move away from the blue wrapper.\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move away from the blue wrapper.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove away from the blue wrapper. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room 6- go to the recycle bin. 7- drop the popcorn packet in the recycle bin. 8- Move to the rack 9- go closer to the blue wrapper in the tray. 10- Move towards the blue chocolate in the rack 11- Move the black tray backward slightly 12- grab the blue wrapper. 13- Move the tray to left 14- Pick up the blue wrap 15- exit the room. 16- Move ahead 17- Move inside the room 18- Move to the leftmost table 19- Place the blue chocolate on the table Q: next 5 steps? \u003cPRED\u003eA: 1- move away from the blue wrapper. 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. Q: immediate next step? \u003cPRED\u003eA: move away from the blue wrapper.\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move away from the blue wrapper.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove away from the blue wrapper. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"953800262319731574.mp4"}
+{"uid":"2710574104825119062","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the tetra pack 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":"12651038797943037383.mp4"}
+{"uid":"17111024543401277907","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGo to 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":"16687850331250985933.mp4"}
+{"uid":"15693907040342564660","text":"\u003ctask:success:discrete:True\u003e\nMove into 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 into the room\n\u003c/PRED\u003e","video":"3796632398390594818.mp4"}
+{"uid":"13325621357578493740","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop pink marker in a pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2422947871096897027.mp4"}
+{"uid":"8012091523201952784","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nslightly lift 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":"1984090613709143633.mp4"}
+{"uid":"10557673990336140358","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drive forward\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Go straight into the hall way\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrive forward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nGo straight into the hall way Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16798467381078955762.mp4"}
+{"uid":"1758922644007209964","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":"18300052058057129856.mp4"}
+{"uid":"8607417674244326026","text":"\u003ctask:success:discrete:True\u003e\nDrop the popcorn pack in the middle 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: Drop the popcorn pack in the middle bin\n\u003c/PRED\u003e","video":"17368765395133913101.mp4"}
+{"uid":"6029066870549250691","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the  chip bags 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":"17508008363244788916.mp4"}
+{"uid":"2047646514979085635","text":"\u003ctask:success:discrete:True\u003e\nMove away from the recycle bins Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move away from the recycle bins\n\u003c/PRED\u003e","video":"6720596317991135669.mp4"}
+{"uid":"10828795743748648995","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the pop corn packet in the recycle bins\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room Q: immediate next step? \u003cPRED\u003eA: Drop the pop corn packet in the recycle bins\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the pop corn packet in the recycle bins Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED: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 pop corn packet in the recycle bins Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 pop corn packet in the recycle bins\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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\u003ctask:planning:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. Q: immediate next step? \u003cPRED\u003eA: Drop the pop corn packet in the recycle bins\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the pop corn packet in the recycle bins 2- Move to the rack 3- go closer to the blue wrapper in the tray. 4- Move towards the blue chocolate in the rack 5- Move the black tray backward slightly\n\u003c/PRED\u003e","video":"16737717919726695689.mp4"}
+{"uid":"3215695447652219424","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room 6- go to the recycle bin. 7- drop the popcorn packet in the recycle bin. 8- Move to the rack 9- go closer to the blue wrapper in the tray. 10- Move towards the blue chocolate in the rack 11- Move the black tray backward slightly 12- grab the blue wrapper. 13- Move the tray to left 14- Pick up the blue wrap Q: next 5 steps? \u003cPRED\u003eA: 1- Move out of the room 2- Move ahead 3- Move inside the room 4- Move to the leftmost table 5- Place the blue chocolate on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. Q: immediate next step? \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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move out of the room\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room 6- go to the recycle bin. 7- drop the popcorn packet in the recycle bin. 8- Move to the rack 9- go closer to the blue wrapper in the tray. 10- Move towards the blue chocolate in the rack 11- Move the black tray backward slightly 12- grab the blue wrapper. 13- Move the tray to left 14- Pick up the blue wrap 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: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","video":"2243383068329043224.mp4"}
+{"uid":"13888071899026490495","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the blue chocolate on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 chocolate on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. Q: immediate next step? \u003cPRED\u003eA: Place the blue chocolate on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room 6- go to the recycle bin. 7- drop the popcorn packet in the recycle bin. 8- Move to the rack 9- go closer to the blue wrapper in the tray. 10- Move towards the blue chocolate in the rack 11- Move the black tray backward slightly 12- grab the blue wrapper. 13- Move the tray to left 14- Pick up the blue wrap 15- exit the room. 16- Move ahead 17- Move inside the room Q: immediate next step? \u003cPRED\u003eA: Place the blue chocolate on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the blue chocolate on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the blue chocolate on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room 6- go to the recycle bin. 7- drop the popcorn packet in the recycle bin. 8- Move to the rack 9- go closer to the blue wrapper in the tray. 10- Move towards the blue chocolate in the rack 11- Move the black tray backward slightly 12- grab the blue wrapper. 13- Move the tray to left 14- Pick up the blue wrap 15- exit the room. 16- Move ahead 17- Move inside the room Q: next 5 steps? \u003cPRED\u003eA: 1- Place the blue chocolate on the table 2- done\n\u003c/PRED\u003e","video":"11808417271211935090.mp4"}
+{"uid":"13997018326668624248","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the sticky notes in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12579983203648739178.mp4"}
+{"uid":"4407395420452030453","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room 6- go to the recycle bin. 7- drop the popcorn packet in the recycle bin. 8- Move to the rack 9- go closer to the blue wrapper in the tray. 10- Move towards the blue chocolate in the rack Q: next 5 steps? \u003cPRED\u003eA: 1- Move the black tray backward slightly 2- grab the blue wrapper. 3- Move the tray to left 4- Pick up the blue wrap 5- exit the room.\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move the black tray backward slightly\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove the black tray backward slightly Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 black tray backward slightly\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. Q: immediate next step? \u003cPRED\u003eA: Move the black tray backward slightly\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room 6- go to the recycle bin. 7- drop the popcorn packet in the recycle bin. 8- Move to the rack 9- go closer to the blue wrapper in the tray. 10- Move towards the blue chocolate in the rack Q: immediate next step? \u003cPRED\u003eA: Move the black tray backward slightly\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove the black tray backward slightly Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6179727658629195597.mp4"}
+{"uid":"17932408740492240794","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. Q: immediate next step? \u003cPRED\u003eA: Pick up the blue chocolate\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the blue chocolate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room 6- go to the recycle bin. 7- drop the popcorn packet in the recycle bin. 8- Move to the rack 9- go closer to the blue wrapper in the tray. 10- Move towards the blue chocolate in the rack 11- Move the black tray backward slightly 12- grab the blue wrapper. 13- Move the tray to left Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the blue chocolate 2- Move ahead 3- Move inside the room 4- Move to the leftmost table 5- Place the blue chocolate on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the blue chocolate\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room 6- go to the recycle bin. 7- drop the popcorn packet in the recycle bin. 8- Move to the rack 9- go closer to the blue wrapper in the tray. 10- Move towards the blue chocolate in the rack 11- Move the black tray backward slightly 12- grab the blue wrapper. 13- Move the tray to left Q: immediate next step? \u003cPRED\u003eA: Pick up the blue chocolate\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the blue chocolate\n\u003c/PRED\u003e","video":"17469797331534557451.mp4"}
+{"uid":"16181458836442645002","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput book in the shelf Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7503940811285835802.mp4"}
+{"uid":"8905881434710652554","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. Q: immediate next step? \u003cPRED\u003eA: Move towards the blue chocolate in the rack\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove towards the blue chocolate in the rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room 6- go to the recycle bin. 7- drop the popcorn packet in the recycle bin. 8- Move to the rack Q: immediate next step? \u003cPRED\u003eA: Move towards the blue chocolate in the rack\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room 6- go to the recycle bin. 7- drop the popcorn packet in the recycle bin. 8- Move to the rack Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the blue chocolate in the rack 2- Move the black tray backward slightly 3- grab the blue wrapper. 4- Move the tray to left 5- Pick up the blue wrap\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move towards the blue chocolate in the rack\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove towards the blue chocolate in the rack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move towards the blue chocolate in the rack\n\u003c/PRED\u003e","video":"3929626705509542372.mp4"}
+{"uid":"12053763564248774704","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the pen into the cart Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4947693200152266563.mp4"}
+{"uid":"17652055831103222091","text":"\u003ctask:success:discrete:True\u003e\nEnter the office 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\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Enter the office ahead\n\u003c/PRED\u003e","video":"14379606086772386478.mp4"}
+{"uid":"14777505686671545441","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. Q: immediate next step? \u003cPRED\u003eA: Move towards the rack\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move towards the rack\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove towards the rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room 6- go to the recycle bin. 7- drop the popcorn packet in the recycle bin. 8- Move to the rack Q: immediate next step? \u003cPRED\u003eA: Move towards the rack\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room 6- go to the recycle bin. 7- drop the popcorn packet in the recycle bin. 8- Move to the rack Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the rack 2- Move towards the blue chocolate in the rack 3- Move the black tray backward slightly 4- grab the blue wrapper. 5- Move the tray to left\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove towards the rack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move towards the rack\n\u003c/PRED\u003e","video":"6415706636342778520.mp4"}
+{"uid":"16392842409446580184","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room 6- go to the recycle bin. 7- drop the popcorn packet in the recycle bin. 8- Move to the rack 9- go closer to the blue wrapper in the tray. 10- Move towards the blue chocolate in the rack 11- Move the black tray backward slightly 12- grab the blue wrapper. 13- Move the tray to left 14- Pick up the blue wrap Q: immediate next step? \u003cPRED\u003eA: Leave the room\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Leave the room\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. Q: immediate next step? \u003cPRED\u003eA: Leave the room\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Leave the room\n\u003c/PRED\u003e\u003ctask: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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room 6- go to the recycle bin. 7- drop the popcorn packet in the recycle bin. 8- Move to the rack 9- go closer to the blue wrapper in the tray. 10- Move towards the blue chocolate in the rack 11- Move the black tray backward slightly 12- grab the blue wrapper. 13- Move the tray to left 14- Pick up the blue wrap Q: next 5 steps? \u003cPRED\u003eA: 1- Leave the room 2- Move ahead 3- Move inside the room 4- Move to the leftmost table 5- Place the blue chocolate on the table\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","video":"1559431320069570700.mp4"}
+{"uid":"8029043606433661195","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the blue chocolate from the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the blue chocolate from the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8624350959376964508.mp4"}
+{"uid":"9639050268169945771","text":"\u003ctask:success:discrete:False\u003e\nMove inside 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: Move inside the room\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move inside the room\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room 6- go to the recycle bin. 7- drop the popcorn packet in the recycle bin. 8- Move to the rack 9- go closer to the blue wrapper in the tray. 10- Move towards the blue chocolate in the rack 11- Move the black tray backward slightly 12- grab the blue wrapper. 13- Move the tray to left 14- Pick up the blue wrap 15- exit the room. 16- Move ahead Q: next 5 steps? \u003cPRED\u003eA: 1- Move inside the room 2- Move to the leftmost table 3- Place the blue chocolate on the table 4- Move away from the blue wrap 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room 6- go to the recycle bin. 7- drop the popcorn packet in the recycle bin. 8- Move to the rack 9- go closer to the blue wrapper in the tray. 10- Move towards the blue chocolate in the rack 11- Move the black tray backward slightly 12- grab the blue wrapper. 13- Move the tray to left 14- Pick up the blue wrap 15- exit the room. 16- Move ahead Q: immediate next step? \u003cPRED\u003eA: Move inside the room\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. Q: immediate next step? \u003cPRED\u003eA: Move inside the room\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove inside 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","video":"11666622502101556206.mp4"}
+{"uid":"11464693079385175016","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room 6- go to the recycle bin. 7- drop the popcorn packet in the recycle bin. Q: next 5 steps? \u003cPRED\u003eA: 1- go closer to the blue wrapper in the tray. 2- Move the black tray backward slightly 3- grab the blue wrapper. 4- Move the tray to left 5- Pick up the blue wrap\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. Q: immediate next step? \u003cPRED\u003eA: go closer to the blue wrapper in the tray.\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: go closer to the blue wrapper in the tray.\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: go closer to the blue wrapper in the tray.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngo closer to the blue wrapper in the tray. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room 6- go to the recycle bin. 7- drop the popcorn packet in the recycle bin. Q: immediate next step? \u003cPRED\u003eA: go closer to the blue wrapper in the tray.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngo closer to the blue wrapper 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":"16409089223560979682.mp4"}
+{"uid":"8638779698256461364","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the yellow 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":"9543915840775596401.mp4"}
+{"uid":"8660861946247368361","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":"18165029668556686058.mp4"}
+{"uid":"11467394286132278323","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room 6- go to the recycle bin. 7- drop the popcorn packet in the recycle bin. 8- Move to the rack 9- go closer to the blue wrapper in the tray. 10- Move towards the blue chocolate in the rack 11- Move the black tray backward slightly 12- grab the blue wrapper. 13- Move the tray to left 14- Pick up the blue wrap 15- exit the room. Q: next 5 steps? \u003cPRED\u003eA: 1- go straight into the hallway. 2- Move to the leftmost table 3- Place the blue chocolate on the table 4- Move away from the blue wrap 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: go straight into the hallway.\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: go straight into the hallway.\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. Q: immediate next step? \u003cPRED\u003eA: go straight into the hallway.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngo straight into the hallway. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngo straight into the hallway. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room 6- go to the recycle bin. 7- drop the popcorn packet in the recycle bin. 8- Move to the rack 9- go closer to the blue wrapper in the tray. 10- Move towards the blue chocolate in the rack 11- Move the black tray backward slightly 12- grab the blue wrapper. 13- Move the tray to left 14- Pick up the blue wrap 15- exit the room. Q: immediate next step? \u003cPRED\u003eA: go straight into the hallway.\n\u003c/PRED\u003e","video":"14561759534216922563.mp4"}
+{"uid":"2212085108874610077","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace a 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":"14575315405625874214.mp4"}
+{"uid":"15566296196116145319","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nhold the green potted plaint Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15124845828987175390.mp4"}
+{"uid":"3446990661876158741","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":"17329026792530882710.mp4"}
+{"uid":"6227734618094234494","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move away from the recycle bins\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move away from the recycle bins\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. Q: immediate next step? \u003cPRED\u003eA: Move away from the recycle bins\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room 6- go to the recycle bin. 7- drop the popcorn packet in the recycle bin. Q: immediate next step? \u003cPRED\u003eA: Move away from the recycle bins\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room 6- go to the recycle bin. 7- drop the popcorn packet in the recycle bin. Q: next 5 steps? \u003cPRED\u003eA: 1- Move away from the recycle bins 2- Move towards the blue chocolate in the rack 3- Move the black tray backward slightly 4- grab the blue wrapper. 5- Move the tray to left\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove away from the recycle bins Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\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 recycle bins Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16366943938365210843.mp4"}
+{"uid":"17588142397563372057","text":"\u003ctask:success:discrete:False\u003e\ngo straight into the hallway. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. Q: immediate next step? \u003cPRED\u003eA: go straight into the hallway.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngo straight into the hallway. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. Q: next 5 steps? \u003cPRED\u003eA: 1- go straight into the hallway. 2- Enter the room 3- go to the recycle bin. 4- drop the popcorn packet in the recycle bin. 5- Move to the rack\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: go straight into the hallway.\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: go straight into the hallway.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. Q: immediate next step? \u003cPRED\u003eA: go straight into the hallway.\n\u003c/PRED\u003e","video":"16492234402789031759.mp4"}
+{"uid":"4216328894334639280","text":"\u003ctask:success:discrete:False\u003e\nDrop the pop corn packet in the bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room Q: immediate next step? \u003cPRED\u003eA: Drop the pop corn packet in the bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the pop corn packet in the bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the pop corn packet in the bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the pop corn packet in the bin 2- Move to the rack 3- go closer to the blue wrapper in the tray. 4- Move towards the blue chocolate in the rack 5- Move the black tray backward slightly\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. Q: immediate next step? \u003cPRED\u003eA: Drop the pop corn packet in the bin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the pop corn packet in the bin\n\u003c/PRED\u003e","video":"2848472630504155013.mp4"}
+{"uid":"1841372670263495872","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Pick up the popcorn pack from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the popcorn pack from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the popcorn pack from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the popcorn pack from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. Q: immediate next step? \u003cPRED\u003eA: Pick up the popcorn pack from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the popcorn pack from the table\n\u003c/PRED\u003e","video":"18224623401894505945.mp4"}
+{"uid":"7493958748641325332","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":"12942373588583577383.mp4"}
+{"uid":"2975766504746767302","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nenter the room. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: enter the room.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. Q: immediate next step? \u003cPRED\u003eA: enter the room.\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: enter the room.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nenter the room. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. Q: next 5 steps? \u003cPRED\u003eA: 1- enter the room. 2- drop the popcorn packet in the recycle bin. 3- Move to the rack 4- go closer to the blue wrapper in the tray. 5- Move towards the blue chocolate in the rack\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. Q: immediate next step? \u003cPRED\u003eA: enter the room.\n\u003c/PRED\u003e","video":"3280913859430199258.mp4"}
+{"uid":"18318842570837316139","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":"9616676066755300668.mp4"}
+{"uid":"12957460674601474937","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nExit the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5624514271996726090.mp4"}
+{"uid":"9988766066959011810","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the sponge on the table along with the cloth Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2503848007680990241.mp4"}
+{"uid":"9500369986222110538","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":"11074405032975412835.mp4"}
+{"uid":"14336577183668127995","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move to the leftmost table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the blue chocolate on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 chocolate on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room 6- go to the recycle bin. 7- drop the popcorn packet in the recycle bin. 8- Move to the rack 9- go closer to the blue wrapper in the tray. 10- Move towards the blue chocolate in the rack 11- Move the black tray backward slightly 12- grab the blue wrapper. 13- Move the tray to left 14- Pick up the blue wrap 15- exit the room. 16- Move ahead 17- Move inside the room 18- Move to the leftmost table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the blue chocolate on the table 2- Move away from the blue wrap 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. Q: immediate next step? \u003cPRED\u003eA: Place the blue chocolate on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove to the leftmost table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 chocolate on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room 6- go to the recycle bin. 7- drop the popcorn packet in the recycle bin. 8- Move to the rack 9- go closer to the blue wrapper in the tray. 10- Move towards the blue chocolate in the rack 11- Move the black tray backward slightly 12- grab the blue wrapper. 13- Move the tray to left 14- Pick up the blue wrap 15- exit the room. 16- Move ahead 17- Move inside the room 18- Move to the leftmost table Q: immediate next step? \u003cPRED\u003eA: Place the blue chocolate on the table\n\u003c/PRED\u003e","video":"16583235252473515269.mp4"}
+{"uid":"14311935280290663830","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the blue chocolate\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the blue chocolate Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11842410761534271975.mp4"}
+{"uid":"615616267975458684","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packets in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16145242926839768223.mp4"}
+{"uid":"13126244635896229737","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":"10368366157894284894.mp4"}
+{"uid":"445787797237063671","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move towards the blue chocolate\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move towards the blue chocolate\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room 6- go to the recycle bin. 7- drop the popcorn packet in the recycle bin. 8- Move to the rack Q: immediate next step? \u003cPRED\u003eA: Move towards the blue chocolate\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove towards the blue chocolate Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove towards the blue chocolate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room 6- go to the recycle bin. 7- drop the popcorn packet in the recycle bin. 8- Move to the rack Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the blue chocolate 2- Move the black tray backward slightly 3- grab the blue wrapper. 4- Move the tray to left 5- Pick up the blue wrap\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. Q: immediate next step? \u003cPRED\u003eA: Move towards the blue chocolate\n\u003c/PRED\u003e","video":"11102976212354599808.mp4"}
+{"uid":"15055763453356835989","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. Q: immediate next step? \u003cPRED\u003eA: Move towards the middle bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove towards the middle bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove towards the middle bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room Q: immediate next step? \u003cPRED\u003eA: Move towards the middle bin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move towards the middle bin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move towards the middle bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the middle bin 2- drop the popcorn packet in the recycle bin. 3- Move to the rack 4- go closer to the blue wrapper in the tray. 5- Move towards the blue chocolate in the rack\n\u003c/PRED\u003e","video":"7916480636963509871.mp4"}
+{"uid":"15776162102248435253","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":"17963816826421372103.mp4"}
+{"uid":"6482035630537702076","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nGrasp the blue wrap Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGrasp the blue wrap Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Grasp the blue wrap\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. Q: immediate next step? \u003cPRED\u003eA: Grasp the blue wrap\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room 6- go to the recycle bin. 7- drop the popcorn packet in the recycle bin. 8- Move to the rack 9- go closer to the blue wrapper in the tray. 10- Move towards the blue chocolate in the rack 11- Move the black tray backward slightly Q: next 5 steps? \u003cPRED\u003eA: 1- Grasp the blue wrap 2- Move the tray to left 3- Pick up the blue wrap 4- exit the room. 5- Move ahead\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Grasp the blue wrap\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room 6- go to the recycle bin. 7- drop the popcorn packet in the recycle bin. 8- Move to the rack 9- go closer to the blue wrapper in the tray. 10- Move towards the blue chocolate in the rack 11- Move the black tray backward slightly Q: immediate next step? \u003cPRED\u003eA: Grasp the blue wrap\n\u003c/PRED\u003e","video":"16646900774586526321.mp4"}
+{"uid":"8398918279027554225","text":"\u003ctask:success:discrete:False\u003e\nGo straight into the hall way Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room 6- go to the recycle bin. 7- drop the popcorn packet in the recycle bin. 8- Move to the rack 9- go closer to the blue wrapper in the tray. 10- Move towards the blue chocolate in the rack 11- Move the black tray backward slightly 12- grab the blue wrapper. 13- Move the tray to left 14- Pick up the blue wrap 15- exit the room. Q: next 5 steps? \u003cPRED\u003eA: 1- Go straight into the hall way 2- Move to the leftmost table 3- Place the blue chocolate on the table 4- Move away from the blue wrap 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGo straight into the hall way Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. Q: immediate next step? \u003cPRED\u003eA: Go straight into the hall way\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room 6- go to the recycle bin. 7- drop the popcorn packet in the recycle bin. 8- Move to the rack 9- go closer to the blue wrapper in the tray. 10- Move towards the blue chocolate in the rack 11- Move the black tray backward slightly 12- grab the blue wrapper. 13- Move the tray to left 14- Pick up the blue wrap 15- exit the room. Q: immediate next step? \u003cPRED\u003eA: Go straight into the hall way\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Go straight into the hall way\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Go straight into the hall way\n\u003c/PRED\u003e","video":"7970811500915822501.mp4"}
+{"uid":"1968122672297602147","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. Q: immediate next step? \u003cPRED\u003eA: go to the recycle bin.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngo to the recycle bin. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: go to the recycle bin.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngo to the recycle bin. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: go to the recycle bin.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room Q: next 5 steps? \u003cPRED\u003eA: 1- go to the recycle bin. 2- Move to the rack 3- go closer to the blue wrapper in the tray. 4- Move towards the blue chocolate in the rack 5- Move the black tray backward slightly\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room Q: immediate next step? \u003cPRED\u003eA: go to the recycle bin.\n\u003c/PRED\u003e","video":"3060000541188972897.mp4"}
+{"uid":"17320516334033530482","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nLift the blue chocolate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. Q: immediate next step? \u003cPRED\u003eA: Lift the blue chocolate\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Lift the blue chocolate\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room 6- go to the recycle bin. 7- drop the popcorn packet in the recycle bin. 8- Move to the rack 9- go closer to the blue wrapper in the tray. 10- Move towards the blue chocolate in the rack 11- Move the black tray backward slightly Q: next 5 steps? \u003cPRED\u003eA: 1- Lift the blue chocolate 2- Move the tray to left 3- Pick up the blue wrap 4- exit the room. 5- Move ahead\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Lift the blue chocolate\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room 6- go to the recycle bin. 7- drop the popcorn packet in the recycle bin. 8- Move to the rack 9- go closer to the blue wrapper in the tray. 10- Move towards the blue chocolate in the rack 11- Move the black tray backward slightly Q: immediate next step? \u003cPRED\u003eA: Lift the blue chocolate\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nLift the blue chocolate Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7456844726402700093.mp4"}
+{"uid":"14688956750948909190","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the yellow packet in white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12388499436977068712.mp4"}
+{"uid":"2341969972949099598","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose 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":"17721289867410524699.mp4"}
+{"uid":"10673896062838817116","text":"\u003ctask:success:discrete:True\u003e\nMove the black tray backward slightly Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 black tray backward slightly\n\u003c/PRED\u003e","video":"10776878929977725046.mp4"}
+{"uid":"12684532152406874099","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":"6611434601617917701.mp4"}
+{"uid":"502138484960984599","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. Q: immediate next step? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table Q: immediate next step? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Exit the room 2- Drive forward 3- Enter the room 4- go to the recycle bin. 5- drop the popcorn packet in the recycle bin.\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","video":"15701820258523449430.mp4"}
+{"uid":"18305579231212145407","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drive to the  bin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrive to the  bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16060790343009648381.mp4"}
+{"uid":"12344022613032264372","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4340155283172810143.mp4"}
+{"uid":"11251629387486680316","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose 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":"13399258824424260116.mp4"}
+{"uid":"6978870404874893799","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room 6- go to the recycle bin. 7- drop the popcorn packet in the recycle bin. 8- Move to the rack 9- go closer to the blue wrapper in the tray. 10- Move towards the blue chocolate in the rack 11- Move the black tray backward slightly 12- grab the blue wrapper. 13- Move the tray to left 14- Pick up the blue wrap Q: immediate next step? \u003cPRED\u003eA: exit the room.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room 6- go to the recycle bin. 7- drop the popcorn packet in the recycle bin. 8- Move to the rack 9- go closer to the blue wrapper in the tray. 10- Move towards the blue chocolate in the rack 11- Move the black tray backward slightly 12- grab the blue wrapper. 13- Move the tray to left 14- Pick up the blue wrap Q: next 5 steps? \u003cPRED\u003eA: 1- exit the room. 2- Move ahead 3- Move inside the room 4- Move to the leftmost table 5- Place the blue chocolate on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nexit the room. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: exit the room.\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: exit the room.\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. Q: immediate next step? \u003cPRED\u003eA: exit the room.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nexit the room. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1226543869933571087.mp4"}
+{"uid":"11923755824742080666","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nMove towards the pop corn packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move towards the pop corn packet\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the pop corn packet 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. Q: immediate next step? \u003cPRED\u003eA: Move towards the pop corn packet\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove towards the pop corn packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Move towards the pop corn packet\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move towards the pop corn packet\n\u003c/PRED\u003e","video":"11315952862211628262.mp4"}
+{"uid":"6711651260023009230","text":"\u003ctask:success:discrete:True\u003e\nMove towards the recycle bins Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 recycle bins\n\u003c/PRED\u003e","video":"11465808099976097393.mp4"}
+{"uid":"16409933397195844272","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the pop corn packet\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the pop corn 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","video":"10596726084589113586.mp4"}
+{"uid":"13183987207322445100","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput knife 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":"11225678319777106700.mp4"}
+{"uid":"16463013747985779375","text":"\u003ctask:success:discrete:False\u003e\nPlace the blue wrap on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. Q: immediate next step? \u003cPRED\u003eA: Place the blue wrap on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room 6- go to the recycle bin. 7- drop the popcorn packet in the recycle bin. 8- Move to the rack 9- go closer to the blue wrapper in the tray. 10- Move towards the blue chocolate in the rack 11- Move the black tray backward slightly 12- grab the blue wrapper. 13- Move the tray to left 14- Pick up the blue wrap 15- exit the room. 16- Move ahead 17- Move inside the room Q: next 5 steps? \u003cPRED\u003eA: 1- Place the blue wrap on the table 2- Move away from the blue wrap 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the blue wrap on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room 6- go to the recycle bin. 7- drop the popcorn packet in the recycle bin. 8- Move to the rack 9- go closer to the blue wrapper in the tray. 10- Move towards the blue chocolate in the rack 11- Move the black tray backward slightly 12- grab the blue wrapper. 13- Move the tray to left 14- Pick up the blue wrap 15- exit the room. 16- Move ahead 17- Move inside the room Q: immediate next step? \u003cPRED\u003eA: Place the blue wrap on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the blue wrap on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the blue wrap on the table\n\u003c/PRED\u003e","video":"6584027224137852409.mp4"}
+{"uid":"7835928493117540653","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. Q: immediate next step? \u003cPRED\u003eA: move the tray backward slightly.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the tray backward slightly. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\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 tray backward slightly. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room 6- go to the recycle bin. 7- drop the popcorn packet in the recycle bin. 8- Move to the rack 9- go closer to the blue wrapper in the tray. Q: next 5 steps? \u003cPRED\u003eA: 1- move the tray backward slightly. 2- grab the blue wrapper. 3- Move the tray to left 4- Pick up the blue wrap 5- exit the room.\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the tray backward slightly.\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the tray backward slightly.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room 6- go to the recycle bin. 7- drop the popcorn packet in the recycle bin. 8- Move to the rack 9- go closer to the blue wrapper in the tray. Q: immediate next step? \u003cPRED\u003eA: move the tray backward slightly.\n\u003c/PRED\u003e","video":"18269256199242334328.mp4"}
+{"uid":"7788905635451429648","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. Q: immediate next step? \u003cPRED\u003eA: Enter the office room\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room 6- go to the recycle bin. 7- drop the popcorn packet in the recycle bin. 8- Move to the rack 9- go closer to the blue wrapper in the tray. 10- Move towards the blue chocolate in the rack 11- Move the black tray backward slightly 12- grab the blue wrapper. 13- Move the tray to left 14- Pick up the blue wrap 15- exit the room. 16- Move ahead Q: next 5 steps? \u003cPRED\u003eA: 1- Enter the office room 2- Place the blue chocolate on the table 3- Move away from the blue wrap 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Enter the office room\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nEnter the office 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: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room 6- go to the recycle bin. 7- drop the popcorn packet in the recycle bin. 8- Move to the rack 9- go closer to the blue wrapper in the tray. 10- Move towards the blue chocolate in the rack 11- Move the black tray backward slightly 12- grab the blue wrapper. 13- Move the tray to left 14- Pick up the blue wrap 15- exit the room. 16- Move ahead Q: immediate next step? \u003cPRED\u003eA: Enter the office room\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nEnter the office room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Enter the office room\n\u003c/PRED\u003e","video":"9435289828212762926.mp4"}
+{"uid":"7835637074868543861","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the yellow 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":"11412808264189143222.mp4"}
+{"uid":"3960327908410566871","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop sticky note 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":"4863927491144037410.mp4"}
+{"uid":"11573555739222238440","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room 6- go to the recycle bin. 7- drop the popcorn packet in the recycle bin. 8- Move to the rack 9- go closer to the blue wrapper in the tray. 10- Move towards the blue chocolate in the rack 11- Move the black tray backward slightly 12- grab the blue wrapper. Q: next 5 steps? \u003cPRED\u003eA: 1- Pull the tray in the rack slightly out 2- Pick up the blue wrap 3- exit the room. 4- Move ahead 5- Move inside the room\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pull the tray in the rack slightly out\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room 6- go to the recycle bin. 7- drop the popcorn packet in the recycle bin. 8- Move to the rack 9- go closer to the blue wrapper in the tray. 10- Move towards the blue chocolate in the rack 11- Move the black tray backward slightly 12- grab the blue wrapper. Q: immediate next step? \u003cPRED\u003eA: Pull the tray in the rack slightly out\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPull the tray in the rack slightly out Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. Q: immediate next step? \u003cPRED\u003eA: Pull the tray in the rack slightly out\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPull the tray in the rack slightly out Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pull the tray in the rack slightly out\n\u003c/PRED\u003e","video":"8422177265224518869.mp4"}
+{"uid":"11733539840690993368","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the white popcorn packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6780405083796469999.mp4"}
+{"uid":"17322459467778415543","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet in a drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9773931736872010101.mp4"}
+{"uid":"8389390990578406575","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. Q: immediate next step? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room 6- go to the recycle bin. 7- drop the popcorn packet in the recycle bin. 8- Move to the rack 9- go closer to the blue wrapper in the tray. 10- Move towards the blue chocolate in the rack 11- Move the black tray backward slightly 12- grab the blue wrapper. 13- Move the tray to left 14- Pick up the blue wrap Q: immediate next step? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nExit the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room 6- go to the recycle bin. 7- drop the popcorn packet in the recycle bin. 8- Move to the rack 9- go closer to the blue wrapper in the tray. 10- Move towards the blue chocolate in the rack 11- Move the black tray backward slightly 12- grab the blue wrapper. 13- Move the tray to left 14- Pick up the blue wrap Q: next 5 steps? \u003cPRED\u003eA: 1- Exit the room 2- Move ahead 3- Move inside the room 4- Move to the leftmost table 5- Place the blue chocolate on 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","video":"4831792017099377808.mp4"}
+{"uid":"636131270848374229","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove towards the left orange 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":"828955491624034601.mp4"}
+{"uid":"11308315442447100167","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove your arm downwards Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13323920126457163197.mp4"}
+{"uid":"17862283075231577930","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":"9530801402511306895.mp4"}
+{"uid":"15919458543527140806","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: go to the recycle bin.\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ngo to the recycle bin. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15133908431652851987.mp4"}
+{"uid":"8175422121849740590","text":"\u003ctask:success:discrete:True\u003e\nMove the tray to left Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move the tray to left\n\u003c/PRED\u003e","video":"2655270382222482183.mp4"}
+{"uid":"8612536459477524644","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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Exit the room 2- Drive forward 3- Enter the room 4- go to the recycle bin. 5- drop the popcorn packet in the recycle bin.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nExit the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e\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: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table Q: immediate next step? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. Q: immediate next step? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e","video":"8358075418422958196.mp4"}
+{"uid":"1787554147459644151","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. Q: immediate next step? \u003cPRED\u003eA: Move forward in the hallway\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. Q: immediate next step? \u003cPRED\u003eA: Move forward in the hallway\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move forward in the hallway\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove forward in the hallway Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove forward in the hallway Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. Q: next 5 steps? \u003cPRED\u003eA: 1- Move forward in the hallway 2- Enter the room 3- go to the recycle bin. 4- drop the popcorn packet in the recycle bin. 5- Move to the rack\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move forward in the hallway\n\u003c/PRED\u003e","video":"3578124549203227044.mp4"}
+{"uid":"15034085049606309631","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Enter the office room\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nEnter the office 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":"17163244546031234446.mp4"}
+{"uid":"6954341291081023777","text":"\u003ctask:success:discrete:True\u003e\nGo straight into the hall way Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED: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\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\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Go straight into the hall way\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move forward\n\u003c/PRED\u003e","video":"465458330411270031.mp4"}
+{"uid":"2336655806150447418","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":"8669303833183652216.mp4"}
+{"uid":"11241260866236336820","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the pop corn packet in the recycle bins\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop the pop corn packet in the recycle bins Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"297661170843323333.mp4"}
+{"uid":"18218195996108544675","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the numi 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":"8506265333956699754.mp4"}
+{"uid":"9296837417651531442","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17978835733370164240.mp4"}
+{"uid":"17948603744949564769","text":"\u003ctask:success:discrete:False\u003e\nPick up the blue chocolate Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the blue chocolate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the blue chocolate\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room 6- go to the recycle bin. 7- drop the popcorn packet in the recycle bin. 8- Move to the rack 9- go closer to the blue wrapper in the tray. 10- Move towards the blue chocolate in the rack 11- Move the black tray backward slightly 12- grab the blue wrapper. 13- Move the tray to left Q: immediate next step? \u003cPRED\u003eA: Pick up the blue chocolate\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room 6- go to the recycle bin. 7- drop the popcorn packet in the recycle bin. 8- Move to the rack 9- go closer to the blue wrapper in the tray. 10- Move towards the blue chocolate in the rack 11- Move the black tray backward slightly 12- grab the blue wrapper. 13- Move the tray to left Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the blue chocolate 2- Move ahead 3- Move inside the room 4- Move to the leftmost table 5- Place the blue chocolate on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. Q: immediate next step? \u003cPRED\u003eA: Pick up the blue chocolate\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the blue chocolate\n\u003c/PRED\u003e","video":"9987384945636620381.mp4"}
+{"uid":"12403048044308563532","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput clip on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6027898541194629285.mp4"}
+{"uid":"3188338908038966188","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the can 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":"17448642194817633123.mp4"}
+{"uid":"15795872727612089913","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Pick up the pop corn packet\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the pop corn packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the pop corn packet\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. Q: immediate next step? \u003cPRED\u003eA: Pick up the pop corn packet\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the pop corn packet 2- exit the room. 3- Drive forward 4- Enter the room 5- go to the recycle bin.\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the pop corn packet\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the pop corn 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":"7506596035009830682.mp4"}
+{"uid":"7309000319575356784","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move straight in the hallway\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move straight in the hallway\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. Q: immediate next step? \u003cPRED\u003eA: Move straight in the hallway\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove straight in the hallway Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room 6- go to the recycle bin. 7- drop the popcorn packet in the recycle bin. 8- Move to the rack 9- go closer to the blue wrapper in the tray. 10- Move towards the blue chocolate in the rack 11- Move the black tray backward slightly 12- grab the blue wrapper. 13- Move the tray to left 14- Pick up the blue wrap 15- exit the room. Q: next 5 steps? \u003cPRED\u003eA: 1- Move straight in the hallway 2- Move inside the room 3- Move to the leftmost table 4- Place the blue chocolate on the table 5- Move away from the blue wrap\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room 6- go to the recycle bin. 7- drop the popcorn packet in the recycle bin. 8- Move to the rack 9- go closer to the blue wrapper in the tray. 10- Move towards the blue chocolate in the rack 11- Move the black tray backward slightly 12- grab the blue wrapper. 13- Move the tray to left 14- Pick up the blue wrap 15- exit the room. Q: immediate next step? \u003cPRED\u003eA: Move straight in the hallway\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove straight in the hallway Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14265364302520977683.mp4"}
+{"uid":"10525149095374922631","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the blue wrapper on the left table. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. Q: immediate next step? \u003cPRED\u003eA: drop the blue wrapper on the left table.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room 6- go to the recycle bin. 7- drop the popcorn packet in the recycle bin. 8- Move to the rack 9- go closer to the blue wrapper in the tray. 10- Move towards the blue chocolate in the rack 11- Move the black tray backward slightly 12- grab the blue wrapper. 13- Move the tray to left 14- Pick up the blue wrap 15- exit the room. 16- Move ahead 17- Move inside the room Q: immediate next step? \u003cPRED\u003eA: drop the blue wrapper on the left table.\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the blue wrapper on the left table.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room 6- go to the recycle bin. 7- drop the popcorn packet in the recycle bin. 8- Move to the rack 9- go closer to the blue wrapper in the tray. 10- Move towards the blue chocolate in the rack 11- Move the black tray backward slightly 12- grab the blue wrapper. 13- Move the tray to left 14- Pick up the blue wrap 15- exit the room. 16- Move ahead 17- Move inside the room Q: next 5 steps? \u003cPRED\u003eA: 1- drop the blue wrapper on the left table. 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the blue wrapper on the left table.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the blue wrapper on the left table. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1864166336302142233.mp4"}
+{"uid":"4002206835901979624","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Enter the room\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Enter the room\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward Q: next 5 steps? \u003cPRED\u003eA: 1- Enter the room 2- go to the recycle bin. 3- drop the popcorn packet in the recycle bin. 4- Move to the rack 5- go closer to the blue wrapper in the tray.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nEnter the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. Q: immediate next step? \u003cPRED\u003eA: Enter the room\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nEnter the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward Q: immediate next step? \u003cPRED\u003eA: Enter the room\n\u003c/PRED\u003e","video":"10876359954767834829.mp4"}
+{"uid":"17266021345278657897","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nExit the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12554903270260512303.mp4"}
+{"uid":"9528021823555099188","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":"17834679148283254159.mp4"}
+{"uid":"17976847083161522650","text":"\u003ctask:success:discrete:True\u003e\nLeave the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Leave the room\n\u003c/PRED\u003e","video":"4150499952034067225.mp4"}
+{"uid":"11193986754404069132","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Enter the office ahead\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Enter the office ahead\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nEnter the office 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:success:discrete:False\u003e\nEnter the office 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room 6- go to the recycle bin. 7- drop the popcorn packet in the recycle bin. 8- Move to the rack 9- go closer to the blue wrapper in the tray. 10- Move towards the blue chocolate in the rack 11- Move the black tray backward slightly 12- grab the blue wrapper. 13- Move the tray to left 14- Pick up the blue wrap 15- exit the room. 16- Move ahead Q: immediate next step? \u003cPRED\u003eA: Enter the office ahead\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room 6- go to the recycle bin. 7- drop the popcorn packet in the recycle bin. 8- Move to the rack 9- go closer to the blue wrapper in the tray. 10- Move towards the blue chocolate in the rack 11- Move the black tray backward slightly 12- grab the blue wrapper. 13- Move the tray to left 14- Pick up the blue wrap 15- exit the room. 16- Move ahead Q: next 5 steps? \u003cPRED\u003eA: 1- Enter the office ahead 2- Place the blue chocolate on the table 3- Move away from the blue wrap 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. Q: immediate next step? \u003cPRED\u003eA: Enter the office ahead\n\u003c/PRED\u003e","video":"6652309992314299854.mp4"}
+{"uid":"3229771796028137198","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move towards the blue chocolate in the rack\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove towards the blue chocolate in the rack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16356214381640035393.mp4"}
+{"uid":"6494764738242833542","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Grasp the blue chocolate from the rack\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nGrasp the blue chocolate from the rack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16550219689267529753.mp4"}
+{"uid":"3084487467418067816","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":"16938369668497543743.mp4"}
+{"uid":"14081018836392588804","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the recycle bins 2- drop the popcorn packet in the recycle bin. 3- Move to the rack 4- go closer to the blue wrapper in the tray. 5- Move towards the blue chocolate in the rack\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room Q: immediate next step? \u003cPRED\u003eA: Move towards the recycle bins\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move towards the recycle bins\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove towards the recycle bins Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. Q: immediate next step? \u003cPRED\u003eA: Move towards the recycle bins\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move towards the recycle bins\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove towards the recycle bins Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13011087823371552247.mp4"}
+{"uid":"11998412464317948297","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the pop corn packet\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the pop corn packet\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. Q: immediate next step? \u003cPRED\u003eA: Pick up the pop corn packet\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the pop corn packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Pick up the pop corn packet\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the pop corn packet 2- exit the room. 3- Drive forward 4- Enter the room 5- go to the recycle bin.\n\u003c/PRED\u003e","video":"17759851017637429375.mp4"}
+{"uid":"7501579065333708317","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the white box on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1565343919808070164.mp4"}
+{"uid":"11500696516904674766","text":"\u003ctask:success:discrete:False\u003e\npick up a blue wrapper from the tray. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up a blue wrapper from the tray. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room 6- go to the recycle bin. 7- drop the popcorn packet in the recycle bin. 8- Move to the rack 9- go closer to the blue wrapper in the tray. 10- Move towards the blue chocolate in the rack 11- Move the black tray backward slightly 12- grab the blue wrapper. 13- Move the tray to left Q: next 5 steps? \u003cPRED\u003eA: 1- pick up a blue wrapper from the tray. 2- Move ahead 3- Move inside the room 4- Move to the leftmost table 5- Place the blue chocolate on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. Q: immediate next step? \u003cPRED\u003eA: pick up a blue wrapper from the tray.\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up a blue wrapper from the tray.\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up a blue wrapper from the tray.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room 6- go to the recycle bin. 7- drop the popcorn packet in the recycle bin. 8- Move to the rack 9- go closer to the blue wrapper in the tray. 10- Move towards the blue chocolate in the rack 11- Move the black tray backward slightly 12- grab the blue wrapper. 13- Move the tray to left Q: immediate next step? \u003cPRED\u003eA: pick up a blue wrapper from the tray.\n\u003c/PRED\u003e","video":"15936724869708472188.mp4"}
+{"uid":"9771465537696126701","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move to the rack\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move to the rack\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. Q: immediate next step? \u003cPRED\u003eA: Move to the rack\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room 6- go to the recycle bin. Q: immediate next step? \u003cPRED\u003eA: Move to the rack\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove to the rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove to the rack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room 6- go to the recycle bin. Q: next 5 steps? \u003cPRED\u003eA: 1- Move to the rack 2- Move towards the blue chocolate in the rack 3- Move the black tray backward slightly 4- grab the blue wrapper. 5- Move the tray to left\n\u003c/PRED\u003e","video":"12970184929512844873.mp4"}
+{"uid":"2014202978212757815","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: enter the room.\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nenter the room. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12960690887957898785.mp4"}
+{"uid":"16205491930694454623","text":"\u003ctask:success:discrete:True\u003e\nMove 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\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move ahead\n\u003c/PRED\u003e","video":"1982427096327410215.mp4"}
+{"uid":"4276176789261059380","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove towards the table 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":"13629321695840065204.mp4"}
+{"uid":"13640586446116921510","text":"\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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room 6- go to the recycle bin. 7- drop the popcorn packet in the recycle bin. 8- Move to the rack 9- go closer to the blue wrapper in the tray. 10- Move towards the blue chocolate in the rack 11- Move the black tray backward slightly 12- grab the blue wrapper. 13- Move the tray to left 14- Pick up the blue wrap 15- exit the room. 16- Move ahead Q: next 5 steps? \u003cPRED\u003eA: 1- Go to the room 2- Move to the leftmost table 3- Place the blue chocolate on the table 4- Move away from the blue wrap 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room 6- go to the recycle bin. 7- drop the popcorn packet in the recycle bin. 8- Move to the rack 9- go closer to the blue wrapper in the tray. 10- Move towards the blue chocolate in the rack 11- Move the black tray backward slightly 12- grab the blue wrapper. 13- Move the tray to left 14- Pick up the blue wrap 15- exit the room. 16- Move ahead Q: immediate next step? \u003cPRED\u003eA: Go to the room\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:planning:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. Q: immediate next step? \u003cPRED\u003eA: Go to the room\n\u003c/PRED\u003e","video":"12777921930238670445.mp4"}
+{"uid":"11094178174713210195","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move away from the blue wrap\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. Q: immediate next step? \u003cPRED\u003eA: Move away from the blue wrap\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room 6- go to the recycle bin. 7- drop the popcorn packet in the recycle bin. 8- Move to the rack 9- go closer to the blue wrapper in the tray. 10- Move towards the blue chocolate in the rack 11- Move the black tray backward slightly 12- grab the blue wrapper. 13- Move the tray to left 14- Pick up the blue wrap 15- exit the room. 16- Move ahead 17- Move inside the room 18- Move to the leftmost table 19- Place the blue chocolate on the table Q: immediate next step? \u003cPRED\u003eA: Move away from the blue wrap\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove away from the blue wrap Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room 6- go to the recycle bin. 7- drop the popcorn packet in the recycle bin. 8- Move to the rack 9- go closer to the blue wrapper in the tray. 10- Move towards the blue chocolate in the rack 11- Move the black tray backward slightly 12- grab the blue wrapper. 13- Move the tray to left 14- Pick up the blue wrap 15- exit the room. 16- Move ahead 17- Move inside the room 18- Move to the leftmost table 19- Place the blue chocolate on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Move away from the blue wrap 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove away from the blue wrap Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move away from the blue wrap\n\u003c/PRED\u003e","video":"2074377722161179450.mp4"}
+{"uid":"17088525373434570473","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move the tray to left\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. Q: immediate next step? \u003cPRED\u003eA: Move the tray to left\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove the tray to left Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room 6- go to the recycle bin. 7- drop the popcorn packet in the recycle bin. 8- Move to the rack 9- go closer to the blue wrapper in the tray. 10- Move towards the blue chocolate in the rack 11- Move the black tray backward slightly 12- grab the blue wrapper. Q: next 5 steps? \u003cPRED\u003eA: 1- Move the tray to left 2- Pick up the blue wrap 3- exit the room. 4- Move ahead 5- Move inside the room\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move the tray to left\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove the tray to left Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room 6- go to the recycle bin. 7- drop the popcorn packet in the recycle bin. 8- Move to the rack 9- go closer to the blue wrapper in the tray. 10- Move towards the blue chocolate in the rack 11- Move the black tray backward slightly 12- grab the blue wrapper. Q: immediate next step? \u003cPRED\u003eA: Move the tray to left\n\u003c/PRED\u003e","video":"7507834427761574621.mp4"}
+{"uid":"15331304851903546077","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up  the cheese balls snack packet from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. Q: immediate next step? \u003cPRED\u003eA: Pick up  the cheese balls snack packet from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up  the cheese balls snack packet from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up  the cheese balls snack packet from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Pick up  the cheese balls snack packet from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up  the cheese balls snack packet from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up  the cheese balls snack packet from the table\n\u003c/PRED\u003e","video":"10946783344523715388.mp4"}
+{"uid":"9892746428582122827","text":"\u003ctask:success:discrete:False\u003e\nMove to the leftmost table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. Q: immediate next step? \u003cPRED\u003eA: Move to the leftmost table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove to the leftmost table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 leftmost table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room 6- go to the recycle bin. 7- drop the popcorn packet in the recycle bin. 8- Move to the rack 9- go closer to the blue wrapper in the tray. 10- Move towards the blue chocolate in the rack 11- Move the black tray backward slightly 12- grab the blue wrapper. 13- Move the tray to left 14- Pick up the blue wrap 15- exit the room. 16- Move ahead 17- Move inside the room Q: immediate next step? \u003cPRED\u003eA: Move to the leftmost table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room 6- go to the recycle bin. 7- drop the popcorn packet in the recycle bin. 8- Move to the rack 9- go closer to the blue wrapper in the tray. 10- Move towards the blue chocolate in the rack 11- Move the black tray backward slightly 12- grab the blue wrapper. 13- Move the tray to left 14- Pick up the blue wrap 15- exit the room. 16- Move ahead 17- Move inside the room Q: next 5 steps? \u003cPRED\u003eA: 1- Move to the leftmost table 2- Place the blue chocolate on the table 3- Move away from the blue wrap 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move to the leftmost table\n\u003c/PRED\u003e","video":"8938310634663908663.mp4"}
+{"uid":"17806598887171131478","text":"\u003ctask:success:discrete:True\u003e\ngo straight into the hallway. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: go straight into the hallway.\n\u003c/PRED\u003e","video":"9129880437334836181.mp4"}
+{"uid":"10270703834519695369","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the pop corn packet in the bin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop the pop corn packet in the bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9367009521343656089.mp4"}
+{"uid":"5854928475017178297","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":"17564845192810304980.mp4"}
+{"uid":"17254168870093803939","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: enter the room.\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: enter the room.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nenter the room. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. Q: immediate next step? \u003cPRED\u003eA: enter the room.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room 6- go to the recycle bin. 7- drop the popcorn packet in the recycle bin. 8- Move to the rack 9- go closer to the blue wrapper in the tray. 10- Move towards the blue chocolate in the rack 11- Move the black tray backward slightly 12- grab the blue wrapper. 13- Move the tray to left 14- Pick up the blue wrap 15- exit the room. 16- Move ahead Q: immediate next step? \u003cPRED\u003eA: enter the room.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room 6- go to the recycle bin. 7- drop the popcorn packet in the recycle bin. 8- Move to the rack 9- go closer to the blue wrapper in the tray. 10- Move towards the blue chocolate in the rack 11- Move the black tray backward slightly 12- grab the blue wrapper. 13- Move the tray to left 14- Pick up the blue wrap 15- exit the room. 16- Move ahead Q: next 5 steps? \u003cPRED\u003eA: 1- enter the room. 2- Place the blue chocolate on the table 3- Move away from the blue wrap 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nenter the room. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1877721788848597721.mp4"}
+{"uid":"4045876040787021348","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput apple in white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"611507166919986048.mp4"}
+{"uid":"8698104854398486981","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Exit the room 2- Drive forward 3- Enter the room 4- go to the recycle bin. 5- drop the popcorn packet in the recycle bin.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nExit the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. Q: immediate next step? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nExit the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table Q: immediate next step? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e","video":"12754836217099050265.mp4"}
+{"uid":"6572240012150743188","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange candy in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16466207787805968108.mp4"}
+{"uid":"17262247482090933163","text":"\u003ctask:success:discrete:True\u003e\nMove towards the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move towards the table\n\u003c/PRED\u003e","video":"15622904992721817049.mp4"}
+{"uid":"17898457824030439009","text":"\u003ctask:success:discrete:True\u003e\nLeave the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Leave the room\n\u003c/PRED\u003e","video":"16951704223556985904.mp4"}
+{"uid":"13491595485341997341","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move away from the table.\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove away from the table. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2219395921895668224.mp4"}
+{"uid":"15338225574628209209","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drive to the  bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrive to the  bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. Q: immediate next step? \u003cPRED\u003eA: Drive to the  bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward Q: immediate next step? \u003cPRED\u003eA: Drive to the  bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward Q: next 5 steps? \u003cPRED\u003eA: 1- Drive to the  bin 2- drop the popcorn packet in the recycle bin. 3- Move to the rack 4- go closer to the blue wrapper in the tray. 5- Move towards the blue chocolate in the rack\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drive to the  bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrive to the  bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15488078854863753134.mp4"}
+{"uid":"15691386164511823175","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":"1262822433195855761.mp4"}
+{"uid":"9752951326988981985","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a blue pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18298932721969075403.mp4"}
+{"uid":"4588729356342562799","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move towards the rack\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove towards the rack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16007195573491810246.mp4"}
+{"uid":"6892641784643651721","text":"\u003ctask:success:discrete:True\u003e\nMove towards the blue wraps in the bottom shelf Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move towards the blue wraps in the bottom shelf\n\u003c/PRED\u003e","video":"7951899905918466619.mp4"}
+{"uid":"14030011136209240069","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table Q: immediate next step? \u003cPRED\u003eA: Move your arm clockwise\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove your arm clockwise Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 clockwise\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove your arm clockwise Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move your arm clockwise\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. Q: immediate next step? \u003cPRED\u003eA: Move your arm clockwise\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Move your arm clockwise 2- Drive forward 3- Enter the room 4- go to the recycle bin. 5- drop the popcorn packet in the recycle bin.\n\u003c/PRED\u003e","video":"15986869585057136689.mp4"}
+{"uid":"8581840812706787692","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. Q: immediate next step? \u003cPRED\u003eA: slightly move the tray backward.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room 6- go to the recycle bin. 7- drop the popcorn packet in the recycle bin. 8- Move to the rack 9- go closer to the blue wrapper in the tray. 10- Move towards the blue chocolate in the rack 11- Move the black tray backward slightly 12- grab the blue wrapper. Q: next 5 steps? \u003cPRED\u003eA: 1- slightly move the tray backward. 2- exit the room. 3- Move ahead 4- Move inside the room 5- Move to the leftmost table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: slightly move the tray backward.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room 6- go to the recycle bin. 7- drop the popcorn packet in the recycle bin. 8- Move to the rack 9- go closer to the blue wrapper in the tray. 10- Move towards the blue chocolate in the rack 11- Move the black tray backward slightly 12- grab the blue wrapper. Q: immediate next step? \u003cPRED\u003eA: slightly move the tray backward.\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: slightly move the tray backward.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nslightly move the tray backward. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nslightly move the tray backward. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5074765200377416207.mp4"}
+{"uid":"3850370423285216146","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sticky note 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":"452966794053728485.mp4"}
+{"uid":"52190506966144357","text":"\u003ctask:success:discrete:False\u003e\nDrive forward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drive forward\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. Q: immediate next step? \u003cPRED\u003eA: Drive forward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrive forward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. Q: immediate next step? \u003cPRED\u003eA: Drive forward\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drive forward\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. Q: next 5 steps? \u003cPRED\u003eA: 1- Drive forward 2- Enter the room 3- go to the recycle bin. 4- drop the popcorn packet in the recycle bin. 5- Move to the rack\n\u003c/PRED\u003e","video":"6725607962570603583.mp4"}
+{"uid":"8437792662132304799","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room 6- go to the recycle bin. 7- drop the popcorn packet in the recycle bin. 8- Move to the rack 9- go closer to the blue wrapper in the tray. 10- Move towards the blue chocolate in the rack 11- Move the black tray backward slightly 12- grab the blue wrapper. 13- Move the tray to left 14- Pick up the blue wrap 15- exit the room. 16- Move ahead 17- Move inside the room Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the table 2- Move away from the blue wrap 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room 6- go to the recycle bin. 7- drop the popcorn packet in the recycle bin. 8- Move to the rack 9- go closer to the blue wrapper in the tray. 10- Move towards the blue chocolate in the rack 11- Move the black tray backward slightly 12- grab the blue wrapper. 13- Move the tray to left 14- Pick up the blue wrap 15- exit the room. 16- Move ahead 17- Move inside the room Q: immediate next step? \u003cPRED\u003eA: Move towards the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move towards the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove towards the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. Q: immediate next step? \u003cPRED\u003eA: Move towards the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move towards the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove towards the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5350696372850034890.mp4"}
+{"uid":"16596086611790722152","text":"\u003ctask:success:discrete:False\u003e\nmove away from the recycle bin. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove away from the recycle bin. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room 6- go to the recycle bin. Q: immediate next step? \u003cPRED\u003eA: move away from the recycle bin.\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. Q: immediate next step? \u003cPRED\u003eA: move away from the recycle bin.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room 6- go to the recycle bin. Q: next 5 steps? \u003cPRED\u003eA: 1- move away from the recycle bin. 2- go closer to the blue wrapper in the tray. 3- Move towards the blue chocolate in the rack 4- Move the black tray backward slightly 5- grab the blue wrapper.\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move away from the recycle bin.\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move away from the recycle bin.\n\u003c/PRED\u003e","video":"10278012704015071660.mp4"}
+{"uid":"8335447021926712674","text":"\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: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. Q: immediate next step? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. Q: next 5 steps? \u003cPRED\u003eA: 1- Exit the room 2- Drive forward 3- Enter the room 4- go to the recycle bin. 5- drop the popcorn packet in the recycle bin.\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e","video":"5274064792322181274.mp4"}
+{"uid":"1461131608141118026","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move your arm clockwise\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove your arm clockwise Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7464975316983664910.mp4"}
+{"uid":"12375056727233722608","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nMove towards the blue wraps in the bottom shelf Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move towards the blue wraps in the bottom shelf\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move towards the blue wraps in the bottom shelf\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room 6- go to the recycle bin. 7- drop the popcorn packet in the recycle bin. 8- Move to the rack Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the blue wraps in the bottom shelf 2- Move the black tray backward slightly 3- grab the blue wrapper. 4- Move the tray to left 5- Pick up the blue wrap\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. Q: immediate next step? \u003cPRED\u003eA: Move towards the blue wraps in the bottom shelf\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room 6- go to the recycle bin. 7- drop the popcorn packet in the recycle bin. 8- Move to the rack Q: immediate next step? \u003cPRED\u003eA: Move towards the blue wraps in the bottom shelf\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove towards the blue wraps in the bottom shelf Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2342501784391436648.mp4"}
+{"uid":"4307085758931955631","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. Q: immediate next step? \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: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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room 6- go to the recycle bin. 7- drop the popcorn packet in the recycle bin. 8- Move to the rack 9- go closer to the blue wrapper in the tray. 10- Move towards the blue chocolate in the rack 11- Move the black tray backward slightly 12- grab the blue wrapper. 13- Move the tray to left 14- Pick up the blue wrap 15- exit the room. Q: next 5 steps? \u003cPRED\u003eA: 1- Move ahead 2- Move inside the room 3- Move to the leftmost table 4- Place the blue chocolate on the table 5- Move away from the blue wrap\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room 6- go to the recycle bin. 7- drop the popcorn packet in the recycle bin. 8- Move to the rack 9- go closer to the blue wrapper in the tray. 10- Move towards the blue chocolate in the rack 11- Move the black tray backward slightly 12- grab the blue wrapper. 13- Move the tray to left 14- Pick up the blue wrap 15- exit the room. 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":"12292148821819896526.mp4"}
+{"uid":"8993227363525837628","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":"9874139561688871535.mp4"}
+{"uid":"3698202922743699233","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the spoon in the dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7586621668348694614.mp4"}
+{"uid":"535701511467995913","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. Q: immediate next step? \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: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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Go to the room\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. Q: next 5 steps? \u003cPRED\u003eA: 1- Go to the room 2- drop the popcorn packet in the recycle bin. 3- Move to the rack 4- go closer to the blue wrapper in the tray. 5- Move towards the blue chocolate in the rack\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:planning:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. Q: immediate next step? \u003cPRED\u003eA: Go to the room\n\u003c/PRED\u003e","video":"11852948791367549319.mp4"}
+{"uid":"17363828663313819861","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the brown packet into the crate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14580476997725979999.mp4"}
+{"uid":"17197680219260266362","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Leave the room\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. Q: immediate next step? \u003cPRED\u003eA: Leave the room\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Leave the room\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room 6- go to the recycle bin. 7- drop the popcorn packet in the recycle bin. 8- Move to the rack 9- go closer to the blue wrapper in the tray. 10- Move towards the blue chocolate in the rack 11- Move the black tray backward slightly 12- grab the blue wrapper. 13- Move the tray to left 14- Pick up the blue wrap Q: immediate next step? \u003cPRED\u003eA: Leave the room\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room 6- go to the recycle bin. 7- drop the popcorn packet in the recycle bin. 8- Move to the rack 9- go closer to the blue wrapper in the tray. 10- Move towards the blue chocolate in the rack 11- Move the black tray backward slightly 12- grab the blue wrapper. 13- Move the tray to left 14- Pick up the blue wrap Q: next 5 steps? \u003cPRED\u003eA: 1- Leave the room 2- Move ahead 3- Move inside the room 4- Move to the leftmost table 5- Place the blue chocolate on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nLeave the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nLeave the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4674076084827224569.mp4"}
+{"uid":"13548504205966992302","text":"\u003ctask:success:discrete:True\u003e\nMove to the rack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move to the rack\n\u003c/PRED\u003e","video":"10598014547177945827.mp4"}
+{"uid":"9935507941246773780","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: exit the room.\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: exit the room.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table Q: immediate next step? \u003cPRED\u003eA: exit the room.\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. Q: immediate next step? \u003cPRED\u003eA: exit the room.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nexit the room. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table Q: next 5 steps? \u003cPRED\u003eA: 1- exit the room. 2- Drive forward 3- Enter the room 4- go to the recycle bin. 5- drop the popcorn packet in the recycle bin.\n\u003c/PRED\u003e","video":"2773161970146096575.mp4"}
+{"uid":"654936778300946026","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the blue chocolate on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the blue chocolate 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: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room 6- go to the recycle bin. 7- drop the popcorn packet in the recycle bin. 8- Move to the rack 9- go closer to the blue wrapper in the tray. 10- Move towards the blue chocolate in the rack 11- Move the black tray backward slightly 12- grab the blue wrapper. 13- Move the tray to left 14- Pick up the blue wrap 15- exit the room. 16- Move ahead 17- Move inside the room 18- Place the blue chocolate on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room 6- go to the recycle bin. 7- drop the popcorn packet in the recycle bin. 8- Move to the rack 9- go closer to the blue wrapper in the tray. 10- Move towards the blue chocolate in the rack 11- Move the black tray backward slightly 12- grab the blue wrapper. 13- Move the tray to left 14- Pick up the blue wrap 15- exit the room. 16- Move ahead 17- Move inside the room 18- Place the blue chocolate on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"13706125890245738764.mp4"}
+{"uid":"4496902333960857884","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove your arm forward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12541019823853219496.mp4"}
+{"uid":"13087183517284497302","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: slightly move the tray backward.\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nslightly move the tray backward. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"799468006677936946.mp4"}
+{"uid":"1348089200474073096","text":"\u003ctask:success:discrete:True\u003e\nEnter the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Enter the room\n\u003c/PRED\u003e","video":"11231643769954901899.mp4"}
+{"uid":"13328270903470092127","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the blue wrap\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the blue wrap Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\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 blue wrap Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 wrap\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room 6- go to the recycle bin. 7- drop the popcorn packet in the recycle bin. 8- Move to the rack 9- go closer to the blue wrapper in the tray. 10- Move towards the blue chocolate in the rack 11- Move the black tray backward slightly 12- grab the blue wrapper. 13- Move the tray to left Q: immediate next step? \u003cPRED\u003eA: Pick up the blue wrap\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room 6- go to the recycle bin. 7- drop the popcorn packet in the recycle bin. 8- Move to the rack 9- go closer to the blue wrapper in the tray. 10- Move towards the blue chocolate in the rack 11- Move the black tray backward slightly 12- grab the blue wrapper. 13- Move the tray to left Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the blue wrap 2- exit the room. 3- Move ahead 4- Move inside the room 5- Move to the leftmost table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. Q: immediate next step? \u003cPRED\u003eA: Pick up the blue wrap\n\u003c/PRED\u003e","video":"11155664170170419911.mp4"}
+{"uid":"6555900118343410908","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. Q: immediate next step? \u003cPRED\u003eA: Go straight into the hall way\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGo straight into the hall way Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 straight into the hall way\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGo straight into the hall way Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. Q: next 5 steps? \u003cPRED\u003eA: 1- Go straight into the hall way 2- Enter the room 3- go to the recycle bin. 4- drop the popcorn packet in the recycle bin. 5- Move to the rack\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. Q: immediate next step? \u003cPRED\u003eA: Go straight into the hall way\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Go straight into the hall way\n\u003c/PRED\u003e","video":"1080381747737725102.mp4"}
+{"uid":"4522370922952833390","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\narrange the packet in order Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15193018130576946536.mp4"}
+{"uid":"13879901457129933639","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":"16417210134102374382.mp4"}
+{"uid":"10679621041962643854","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":"585911214594611562.mp4"}
+{"uid":"2655896742079754833","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the cheese balls snack packet into the bin 2- go closer to the blue wrapper in the tray. 3- Move towards the blue chocolate in the rack 4- Move the black tray backward slightly 5- grab the blue wrapper.\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the cheese balls snack packet into the bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room Q: immediate next step? \u003cPRED\u003eA: Drop the cheese balls snack packet into the bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the cheese balls snack packet into the bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the cheese balls snack packet into the bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. Q: immediate next step? \u003cPRED\u003eA: Drop the cheese balls snack packet into the bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the cheese balls snack packet into the bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12142237288133316025.mp4"}
+{"uid":"6036244114828282085","text":"\u003ctask:success:discrete:True\u003e\nMove inside 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 inside the room\n\u003c/PRED\u003e","video":"3134659059009008622.mp4"}
+{"uid":"4611567040154894618","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up a blue wrapper from the tray.\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up a blue wrapper from the tray. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6827933029853555891.mp4"}
+{"uid":"15414628825909611415","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. Q: immediate next step? \u003cPRED\u003eA: Move into the room\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move into the room\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove into 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: Move into the room\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. Q: immediate next step? \u003cPRED\u003eA: Move into the room\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. Q: next 5 steps? \u003cPRED\u003eA: 1- Move into the room 2- drop the popcorn packet in the recycle bin. 3- Move to the rack 4- go closer to the blue wrapper in the tray. 5- Move towards the blue chocolate in the rack\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove into the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5487306073385233575.mp4"}
+{"uid":"14514190388767062239","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the cup upright Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12423620032606745467.mp4"}
+{"uid":"7342980628787864665","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":"15832481360637262563.mp4"}
+{"uid":"9005178925586167511","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the green chip bag 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":"17995390659767297409.mp4"}
+{"uid":"2870365694575839239","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: grab the blue wrapper.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngrab the blue wrapper. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. Q: immediate next step? \u003cPRED\u003eA: grab the blue wrapper.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room 6- go to the recycle bin. 7- drop the popcorn packet in the recycle bin. 8- Move to the rack 9- go closer to the blue wrapper in the tray. 10- Move towards the blue chocolate in the rack 11- Move the black tray backward slightly Q: immediate next step? \u003cPRED\u003eA: grab the blue wrapper.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room 6- go to the recycle bin. 7- drop the popcorn packet in the recycle bin. 8- Move to the rack 9- go closer to the blue wrapper in the tray. 10- Move towards the blue chocolate in the rack 11- Move the black tray backward slightly Q: next 5 steps? \u003cPRED\u003eA: 1- grab the blue wrapper. 2- Move the tray to left 3- Pick up the blue wrap 4- exit the room. 5- Move ahead\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngrab the blue wrapper. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: grab the blue wrapper.\n\u003c/PRED\u003e","video":"5429234390288665844.mp4"}
+{"uid":"3318129200787558832","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room Q: immediate next step? \u003cPRED\u003eA: Drop the popcorn pack in the middle bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the popcorn pack in the middle bin 2- Move to the rack 3- go closer to the blue wrapper in the tray. 4- Move towards the blue chocolate in the rack 5- Move the black tray backward slightly\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the popcorn pack in the middle bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the popcorn pack in the middle bin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the popcorn pack in the middle bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. Q: immediate next step? \u003cPRED\u003eA: Drop the popcorn pack in the middle bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the popcorn pack in the middle bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2008931861296928432.mp4"}
+{"uid":"7076074887941318700","text":"\u003ctask:success:discrete:True\u003e\ndrop the popcorn packet in the recycle bin. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the popcorn packet in the recycle bin.\n\u003c/PRED\u003e","video":"12058300686413968407.mp4"}
+{"uid":"2945392032029312106","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: enter the room.\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nenter the room. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14556119013048736905.mp4"}
+{"uid":"12400876949424622079","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room 6- go to the recycle bin. 7- drop the popcorn packet in the recycle bin. 8- Move to the rack 9- go closer to the blue wrapper in the tray. 10- Move towards the blue chocolate in the rack 11- Move the black tray backward slightly 12- grab the blue wrapper. Q: next 5 steps? \u003cPRED\u003eA: 1- Grasp the blue chocolate from the rack 2- exit the room. 3- Move ahead 4- Move inside the room 5- Move to the leftmost table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Grasp the blue chocolate from the rack\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGrasp the blue chocolate from the rack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. Q: immediate next step? \u003cPRED\u003eA: Grasp the blue chocolate from the rack\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room 6- go to the recycle bin. 7- drop the popcorn packet in the recycle bin. 8- Move to the rack 9- go closer to the blue wrapper in the tray. 10- Move towards the blue chocolate in the rack 11- Move the black tray backward slightly 12- grab the blue wrapper. Q: immediate next step? \u003cPRED\u003eA: Grasp the blue chocolate from the rack\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGrasp the blue chocolate from the rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Grasp the blue chocolate from the rack\n\u003c/PRED\u003e","video":"8346626695392881902.mp4"}
+{"uid":"5190310849952932020","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the popcorn packet in the recycle bin.\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the popcorn packet in the recycle bin.\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. Q: immediate next step? \u003cPRED\u003eA: drop the popcorn packet in the recycle bin.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room Q: next 5 steps? \u003cPRED\u003eA: 1- drop the popcorn packet in the recycle bin. 2- go closer to the blue wrapper in the tray. 3- Move towards the blue chocolate in the rack 4- Move the black tray backward slightly 5- grab the blue wrapper.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room Q: immediate next step? \u003cPRED\u003eA: drop the popcorn packet in the recycle bin.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the popcorn packet in the recycle bin. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the popcorn packet in the recycle bin. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18086184283591555542.mp4"}
+{"uid":"14154027155314118262","text":"\u003ctask:success:discrete:True\u003e\nmove the tray backward slightly. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 tray backward slightly.\n\u003c/PRED\u003e","video":"17459371733371069830.mp4"}
+{"uid":"2770293563271555251","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the candy into tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5511231034669098118.mp4"}
+{"uid":"16963080941596505922","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove to the open locker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16187733942230253316.mp4"}
+{"uid":"1727221850170971782","text":"\u003ctask:success:discrete:True\u003e\nGrasp the blue wrap Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Grasp the blue wrap\n\u003c/PRED\u003e","video":"1682523905987286629.mp4"}
+{"uid":"5840462073651420762","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput lid of the jar on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17878880781754920953.mp4"}
+{"uid":"4312142570097956498","text":"\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: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room 6- go to the recycle bin. 7- drop the popcorn packet in the recycle bin. 8- Move to the rack 9- go closer to the blue wrapper in the tray. 10- Move towards the blue chocolate in the rack 11- Move the black tray backward slightly 12- grab the blue wrapper. 13- Move the tray to left 14- Pick up the blue wrap 15- exit the room. Q: immediate next step? \u003cPRED\u003eA: Move forward\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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room 6- go to the recycle bin. 7- drop the popcorn packet in the recycle bin. 8- Move to the rack 9- go closer to the blue wrapper in the tray. 10- Move towards the blue chocolate in the rack 11- Move the black tray backward slightly 12- grab the blue wrapper. 13- Move the tray to left 14- Pick up the blue wrap 15- exit the room. Q: next 5 steps? \u003cPRED\u003eA: 1- Move forward 2- Move to the leftmost table 3- Place the blue chocolate on the table 4- Move away from the blue wrap 5- done\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:success:discrete:False\u003e\nMove forward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. Q: immediate next step? \u003cPRED\u003eA: Move forward\n\u003c/PRED\u003e","video":"15370588491030318401.mp4"}
+{"uid":"9780668046428748261","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPush the chairs into the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7673680195665883248.mp4"}
+{"uid":"15620017700934440634","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":"16587197684726926614.mp4"}
+{"uid":"17300847766607557897","text":"\u003ctask:success:discrete:True\u003e\ngo closer to the blue wrapper in the tray. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: go closer to the blue wrapper in the tray.\n\u003c/PRED\u003e","video":"6891819341120198655.mp4"}
+{"uid":"17469838394671732225","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace fork 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":"9300928978622042125.mp4"}
+{"uid":"8598289583955719344","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":"17311136941413070473.mp4"}
+{"uid":"1083168267210366648","text":"\u003ctask:success:discrete:False\u003e\nPick up the blue chocolate from the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room 6- go to the recycle bin. 7- drop the popcorn packet in the recycle bin. 8- Move to the rack 9- go closer to the blue wrapper in the tray. 10- Move towards the blue chocolate in the rack 11- Move the black tray backward slightly 12- grab the blue wrapper. 13- Move the tray to left Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the blue chocolate from the tray 2- exit the room. 3- Move ahead 4- Move inside the room 5- Move to the leftmost table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room 6- go to the recycle bin. 7- drop the popcorn packet in the recycle bin. 8- Move to the rack 9- go closer to the blue wrapper in the tray. 10- Move towards the blue chocolate in the rack 11- Move the black tray backward slightly 12- grab the blue wrapper. 13- Move the tray to left Q: immediate next step? \u003cPRED\u003eA: Pick up the blue chocolate from the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the blue chocolate from the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the blue chocolate from the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the blue chocolate from the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. Q: immediate next step? \u003cPRED\u003eA: Pick up the blue chocolate from the tray\n\u003c/PRED\u003e","video":"13735066591763670367.mp4"}
+{"uid":"13446100023817983228","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the blue chocolate  on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 chocolate  on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room 6- go to the recycle bin. 7- drop the popcorn packet in the recycle bin. 8- Move to the rack 9- go closer to the blue wrapper in the tray. 10- Move towards the blue chocolate in the rack 11- Move the black tray backward slightly 12- grab the blue wrapper. 13- Move the tray to left 14- Pick up the blue wrap 15- exit the room. 16- Move ahead 17- Move inside the room 18- Move to the leftmost table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the blue chocolate  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 blue chocolate  on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the blue chocolate  on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. Q: immediate next step? \u003cPRED\u003eA: Place the blue chocolate  on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: 1- Pick up the popcorn pack from the table 2- move away from the table. 3- exit the room. 4- Drive forward 5- Enter the room 6- go to the recycle bin. 7- drop the popcorn packet in the recycle bin. 8- Move to the rack 9- go closer to the blue wrapper in the tray. 10- Move towards the blue chocolate in the rack 11- Move the black tray backward slightly 12- grab the blue wrapper. 13- Move the tray to left 14- Pick up the blue wrap 15- exit the room. 16- Move ahead 17- Move inside the room 18- Move to the leftmost table Q: immediate next step? \u003cPRED\u003eA: Place the blue chocolate  on the table\n\u003c/PRED\u003e","video":"11272297569964697080.mp4"}
+{"uid":"13064143863927258823","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up  the cheese balls snack packet from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up  the cheese balls snack packet from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10599468173286956975.mp4"}
+{"uid":"16318519068710189882","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the yellow cable in the trap door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6829513985759532346.mp4"}
+{"uid":"13882787719234767006","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":"8747526385809929112.mp4"}
+{"uid":"18140834508093653321","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the popcorn packet from the table.\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. Q: immediate next step? \u003cPRED\u003eA: pick up the popcorn packet from the table.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the popcorn packet from the table. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the popcorn packet from the table. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick up the popcorn packet from the table.\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the popcorn packet from the table.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: bring empty pipcorn bag from 2p2a to landfill bin then bring back an alter eco chocolate to 2p2a. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the popcorn packet from the table. 2- exit the room. 3- Drive forward 4- Enter the room 5- go to the recycle bin.\n\u003c/PRED\u003e","video":"14130564934046457820.mp4"}
+{"uid":"13045691326615972649","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the coke can Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5385901726436567209.mp4"}
+{"uid":"3194824559062781960","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the blue wrap on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the blue wrap 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":"9353285033273428221.mp4"}
+{"uid":"16420401972276602199","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packets in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput packets 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":"11204927153322931412.mp4"}
+{"uid":"17542115663863014483","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":"6974962441814475815.mp4"}
+{"uid":"14805905774991653800","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put spoon in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput spoon 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":"7727560197934508409.mp4"}
+{"uid":"6873186528285703652","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":"17986616223357676972.mp4"}
+{"uid":"8299134281774909100","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the silver packet in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the silver packet in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the silver packet in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the packets into the box. last 20 steps: 1- put packets in the box 2- put packets in the box 3- put packets in the box 4- put packets in the box 5- put packet in the box 6- put packet in the box 7- put packets in the box Q: immediate next step? \u003cPRED\u003eA: Put the silver packet in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the packets into the box. last 20 steps: 1- put packets in the box 2- put packets in the box 3- put packets in the box 4- put packets in the box 5- put packet in the box 6- put packet in the box 7- put packets in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the silver packet in the box 2- put packets in the box 3- put packets in the box 4- put packets in the box 5- put packets in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the silver packet in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the packets into the box Q: immediate next step? \u003cPRED\u003eA: Put the silver packet in the box\n\u003c/PRED\u003e","video":"2562219458184241201.mp4"}
+{"uid":"18350372703311645929","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the silver packet in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the silver packet in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the packets into the box. last 20 steps: 1- put packets in the box Q: immediate next step? \u003cPRED\u003eA: Put the silver packet in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the packets into the box Q: immediate next step? \u003cPRED\u003eA: Put the silver packet in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the packets into the box. last 20 steps: 1- put packets in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the silver packet in the box 2- put packets in the box 3- put packets in the box 4- put packet in the box 5- put packet in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the silver packet in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the silver packet in the box\n\u003c/PRED\u003e","video":"4747903777677973055.mp4"}
+{"uid":"16750587267884084971","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packet in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput packet in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6426902625204141404.mp4"}
+{"uid":"9167867731517083520","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Put back all the oatmeal to the rack Q: immediate next step? \u003cPRED\u003eA: put packet in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put back all the oatmeal to the rack. last 20 steps: 1- put packet in the stand 2- put packet in the stand 3- put packet in the stand 4- put packet in the stand 5- put packet in the stand 6- put packet in the stand 7- put packet in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the stand 2- put packet in the stand 3- put packet in the stand 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put back all the oatmeal to the rack. last 20 steps: 1- put packet in the stand 2- put packet in the stand 3- put packet in the stand 4- put packet in the stand 5- put packet in the stand 6- put packet in the stand 7- put packet in the stand Q: immediate next step? \u003cPRED\u003eA: put packet in the stand\n\u003c/PRED\u003e","video":"17159062938541654581.mp4"}
+{"uid":"15416672827073906405","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":"6388966296007196061.mp4"}
+{"uid":"16720733232044549622","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packets in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the packets into the box. last 20 steps: 1- put packets in the box 2- put packets in the box 3- put packets in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put packets in the box 2- put packet in the box 3- put packet in the box 4- put packets in the box 5- put packet in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packets in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the packets into the box Q: immediate next step? \u003cPRED\u003eA: put packets in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the packets into the box. last 20 steps: 1- put packets in the box 2- put packets in the box 3- put packets in the box Q: immediate next step? \u003cPRED\u003eA: put packets in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packets in the box\n\u003c/PRED\u003e","video":"9152495245843552684.mp4"}
+{"uid":"1888301153785838908","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput white packet 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: put the packets into the box. last 20 steps: 1- put packets in the box 2- put packets in the box 3- put packets in the box 4- put packets in the box 5- put packet in the box 6- put packet in the box 7- put packets in the box 8- put packet in the box 9- put packets in the box 10- put packets in the box 11- put packets in the box 12- put packets in the box 13- put packet in the box 14- put white packet in the cardboard box Q: immediate next step? \u003cPRED\u003eA: put white packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the packets into the box Q: immediate next step? \u003cPRED\u003eA: put white packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the packets into the box. last 20 steps: 1- put packets in the box 2- put packets in the box 3- put packets in the box 4- put packets in the box 5- put packet in the box 6- put packet in the box 7- put packets in the box 8- put packet in the box 9- put packets in the box 10- put packets in the box 11- put packets in the box 12- put packets in the box 13- put packet in the box 14- put white packet in the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- put white packet in the cardboard box 2- put white packet in the cardboard box 3- put packet in the box 4- put packet in the box 5- put packet in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput white packet 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":"16148940734455822885.mp4"}
+{"uid":"15243533903584815480","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput apple in white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12279725186962092360.mp4"}
+{"uid":"1560045405511760208","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove to the right Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2127251822482214860.mp4"}
+{"uid":"11382658819433703517","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the packets into the box Q: immediate next step? \u003cPRED\u003eA: put packet in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the packets into the box. last 20 steps: 1- put packets in the box 2- put packets in the box 3- put packets in the box 4- put packets in the box 5- put packet in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the box 2- put packets in the box 3- put packet in the box 4- put packets in the box 5- put packets in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the packets into the box. last 20 steps: 1- put packets in the box 2- put packets in the box 3- put packets in the box 4- put packets in the box 5- put packet in the box Q: immediate next step? \u003cPRED\u003eA: put packet in the box\n\u003c/PRED\u003e","video":"6669517902142920272.mp4"}
+{"uid":"11318319482517807024","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a brown pen into the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12307128128709972509.mp4"}
+{"uid":"5971002061980187946","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput white packets 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the packets into the box. last 20 steps: 1- put packets in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put white packets in the cardboard box 2- put packets in the box 3- put packets in the box 4- put packet in the box 5- put packet in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the packets into the box Q: immediate next step? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the packets into the box. last 20 steps: 1- put packets in the box Q: immediate next step? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e","video":"14767294109931418705.mp4"}
+{"uid":"3098166316558783857","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput white packet 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:affordance:discriminative:discrete:True\u003e\nput white packet 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the packets into the box. last 20 steps: 1- put packets in the box 2- put packets in the box 3- put packets in the box 4- put packets in the box 5- put packet in the box 6- put packet in the box 7- put packets in the box 8- put packet in the box 9- put packets in the box 10- put packets in the box 11- put packets in the box 12- put packets in the box 13- put packet in the box 14- put white packet in the cardboard box 15- put white packet in the cardboard box 16- put white packet in the cardboard box Q: immediate next step? \u003cPRED\u003eA: put white packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the packets into the box Q: immediate next step? \u003cPRED\u003eA: put white packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the packets into the box. last 20 steps: 1- put packets in the box 2- put packets in the box 3- put packets in the box 4- put packets in the box 5- put packet in the box 6- put packet in the box 7- put packets in the box 8- put packet in the box 9- put packets in the box 10- put packets in the box 11- put packets in the box 12- put packets in the box 13- put packet in the box 14- put white packet in the cardboard box 15- put white packet in the cardboard box 16- put white packet in the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- put white packet in the cardboard box 2- put packet in the box 3- put packet in the box 4- done\n\u003c/PRED\u003e","video":"12241354097937606067.mp4"}
+{"uid":"18159144126675664998","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput white packets 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":"6102145204853473228.mp4"}
+{"uid":"9836509239641598293","text":"\u003ctask:success:discrete:True\u003e\nPut the silver packet in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the silver packet in the box\n\u003c/PRED\u003e","video":"16457575210173862879.mp4"}
+{"uid":"13598557265762277275","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":"6446016677883174410.mp4"}
+{"uid":"16823076763397847805","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the packets into the box. last 20 steps: 1- put packets in the box 2- put packets in the box 3- put packets in the box 4- put packets in the box 5- put packet in the box 6- put packet in the box 7- put packets in the box 8- put packet in the box 9- put packets in the box 10- put packets in the box Q: immediate next step? \u003cPRED\u003eA: Put the silver packets in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the silver packets in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the silver packets in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the packets into the box. last 20 steps: 1- put packets in the box 2- put packets in the box 3- put packets in the box 4- put packets in the box 5- put packet in the box 6- put packet in the box 7- put packets in the box 8- put packet in the box 9- put packets in the box 10- put packets in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the silver packets in the box 2- put packets in the box 3- put packet in the box 4- put white packet in the cardboard box 5- put white packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the packets into the box Q: immediate next step? \u003cPRED\u003eA: Put the silver packets in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the silver packets 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":"8292687942129680122.mp4"}
+{"uid":"13962440679816313805","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the glass 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":"5682778092544343542.mp4"}
+{"uid":"11605982818442958710","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put back all the oatmeal to the rack. last 20 steps: 1- put packet in the stand 2- put packet in the stand 3- put packet in the stand 4- put packet in the stand 5- put packet in the stand 6- put packet in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the stand 2- put packet in the stand 3- put packet in the stand 4- put packet in the stand 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put back all the oatmeal to the rack. last 20 steps: 1- put packet in the stand 2- put packet in the stand 3- put packet in the stand 4- put packet in the stand 5- put packet in the stand 6- put packet in the stand Q: immediate next step? \u003cPRED\u003eA: put packet in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put back all the oatmeal to the rack Q: immediate next step? \u003cPRED\u003eA: put packet in the stand\n\u003c/PRED\u003e","video":"12095556048691878920.mp4"}
+{"uid":"13207254362238871765","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pista 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":"16083369999964895410.mp4"}
+{"uid":"4358780909954294406","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":"17089529818112261682.mp4"}
+{"uid":"16074087857284627442","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the chocolates 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":"429265103467406658.mp4"}
+{"uid":"11610937027685720674","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":"5993195873155104665.mp4"}
+{"uid":"2442784880852825905","text":"\u003ctask:success:discrete:True\u003e\nput spoon 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 spoon in the holder\n\u003c/PRED\u003e","video":"11931854830810341346.mp4"}
+{"uid":"9537016326603743782","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput spoon 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 all the spilled spoons and place them back into the cup. last 20 steps: 1- put holder upright 2- put spoon in the holder 3- put spoon in the holder 4- put spoon in the holder 5- put spoon in the holder 6- put spoon in the holder Q: immediate next step? \u003cPRED\u003eA: put spoon in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the spilled spoons and place them back into the cup. last 20 steps: 1- put holder upright 2- put spoon in the holder 3- put spoon in the holder 4- put spoon in the holder 5- put spoon in the holder 6- put spoon in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put spoon in the holder 2- put spoon in the holder 3- put spoon in the holder 4- put spoon in the holder 5- put spoon in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put spoon in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put spoon in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up all the spilled spoons and place them back into the cup Q: immediate next step? \u003cPRED\u003eA: put spoon in the holder\n\u003c/PRED\u003e","video":"5499883522475474085.mp4"}
+{"uid":"4011092301050661953","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the circular shape block 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":"4766534181154224975.mp4"}
+{"uid":"10994901477679018104","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15979674041414318829.mp4"}
+{"uid":"10433724203886812736","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":"13831276056448814406.mp4"}
+{"uid":"12934805737588414749","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":"15285802520311870133.mp4"}
+{"uid":"7329362006422788758","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the packets into the box. last 20 steps: 1- put packets in the box 2- put packets in the box 3- put packets in the box 4- put packets in the box 5- put packet in the box 6- put packet in the box 7- put packets in the box 8- put packet in the box 9- put packets in the box 10- put packets in the box 11- put packets in the box 12- put packets in the box 13- put packet in the box Q: immediate next step? \u003cPRED\u003eA: put white packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the packets into the box Q: immediate next step? \u003cPRED\u003eA: put white packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput white packet 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:affordance:discriminative:discrete:True\u003e\nput white packet 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the packets into the box. last 20 steps: 1- put packets in the box 2- put packets in the box 3- put packets in the box 4- put packets in the box 5- put packet in the box 6- put packet in the box 7- put packets in the box 8- put packet in the box 9- put packets in the box 10- put packets in the box 11- put packets in the box 12- put packets in the box 13- put packet in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put white packet in the cardboard box 2- put white packet in the cardboard box 3- put white packet in the cardboard box 4- put packet in the box 5- put packet in the box\n\u003c/PRED\u003e","video":"15363172201405392199.mp4"}
+{"uid":"17276054509801028496","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput spoon 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 all the spilled spoons and place them back into the cup. last 20 steps: 1- put holder upright 2- put spoon in the holder 3- put spoon in the holder 4- put spoon in the holder 5- put spoon in the holder 6- put spoon in the holder 7- put spoon in the holder 8- put spoon in the holder 9- put spoon in the holder 10- put spoon in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put spoon in the holder 2- drag the holder 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the spilled spoons and place them back into the cup. last 20 steps: 1- put holder upright 2- put spoon in the holder 3- put spoon in the holder 4- put spoon in the holder 5- put spoon in the holder 6- put spoon in the holder 7- put spoon in the holder 8- put spoon in the holder 9- put spoon in the holder 10- put spoon in the holder Q: immediate next step? \u003cPRED\u003eA: put spoon in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put spoon in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up all the spilled spoons and place them back into the cup Q: immediate next step? \u003cPRED\u003eA: put spoon in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put spoon in the holder\n\u003c/PRED\u003e","video":"12719804750787163332.mp4"}
+{"uid":"12670657917321628778","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the silver packets 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 silver packets in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the packets into the box. last 20 steps: 1- put packets in the box 2- put packets in the box 3- put packets in the box 4- put packets in the box 5- put packet in the box 6- put packet in the box 7- put packets in the box 8- put packet in the box 9- put packets in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the silver packets in the box 2- put packets in the box 3- put packets in the box 4- put packet in the box 5- put white packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the packets into the box Q: immediate next step? \u003cPRED\u003eA: Put the silver packets in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the silver packets in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the silver packets in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the packets into the box. last 20 steps: 1- put packets in the box 2- put packets in the box 3- put packets in the box 4- put packets in the box 5- put packet in the box 6- put packet in the box 7- put packets in the box 8- put packet in the box 9- put packets in the box Q: immediate next step? \u003cPRED\u003eA: Put the silver packets in the box\n\u003c/PRED\u003e","video":"2004199156239416992.mp4"}
+{"uid":"16405997586484210460","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the red  packet 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":"6037418414123149044.mp4"}
+{"uid":"13300121794382953853","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":"14966873382028017255.mp4"}
+{"uid":"1651107450921515607","text":"\u003ctask:success:discrete:True\u003e\nput white packet in the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put white packet in the cardboard box\n\u003c/PRED\u003e","video":"14435896652506046010.mp4"}
+{"uid":"16675870750273040621","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput white packets 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the packets into the box. last 20 steps: 1- put packets in the box 2- put packets in the box 3- put packets in the box 4- put packets in the box 5- put packet in the box 6- put packet in the box 7- put packets in the box 8- put packet in the box 9- put packets in the box 10- put packets in the box 11- put packets in the box Q: immediate next step? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the packets into the box. last 20 steps: 1- put packets in the box 2- put packets in the box 3- put packets in the box 4- put packets in the box 5- put packet in the box 6- put packet in the box 7- put packets in the box 8- put packet in the box 9- put packets in the box 10- put packets in the box 11- put packets in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put white packets in the cardboard box 2- put packet in the box 3- put white packet in the cardboard box 4- put white packet in the cardboard box 5- put white packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the packets into the box Q: immediate next step? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e","video":"2063641317016890800.mp4"}
+{"uid":"13706576570400369819","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put back all the oatmeal to the rack. last 20 steps: 1- put packet in the stand 2- put packet in the stand 3- put packet in the stand 4- put packet in the stand 5- put packet in the stand 6- put packet in the stand 7- put packet in the stand 8- put packet in the stand Q: immediate next step? \u003cPRED\u003eA: put packet in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put back all the oatmeal to the rack Q: immediate next step? \u003cPRED\u003eA: put packet in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put back all the oatmeal to the rack. last 20 steps: 1- put packet in the stand 2- put packet in the stand 3- put packet in the stand 4- put packet in the stand 5- put packet in the stand 6- put packet in the stand 7- put packet in the stand 8- put packet in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the stand 2- put packet in the stand 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8015103575575855158.mp4"}
+{"uid":"15452891910386274769","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the two white packets 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":"14477673480007095752.mp4"}
+{"uid":"14362942669283804491","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the packets into the box. last 20 steps: 1- put packets in the box 2- put packets in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put white packets in the cardboard box 2- put packets in the box 3- put packet in the box 4- put packet in the box 5- put packets in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the packets into the box Q: immediate next step? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput white packets 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: put the packets into the box. last 20 steps: 1- put packets in the box 2- put packets in the box Q: immediate next step? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e","video":"4279370430784911701.mp4"}
+{"uid":"12120343085311077520","text":"\u003ctask:success:discrete:True\u003e\nPut the silver packet in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the silver packet in the box\n\u003c/PRED\u003e","video":"718589245420600874.mp4"}
+{"uid":"18174792421719239516","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":"10604499972954717569.mp4"}
+{"uid":"11919664564192386163","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the packets into the box. last 20 steps: 1- put packets in the box 2- put packets in the box 3- put packets in the box 4- put packets in the box 5- put packet in the box 6- put packet in the box Q: immediate next step? \u003cPRED\u003eA: put packets in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the packets into the box. last 20 steps: 1- put packets in the box 2- put packets in the box 3- put packets in the box 4- put packets in the box 5- put packet in the box 6- put packet in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put packets in the box 2- put packet in the box 3- put packets in the box 4- put packets in the box 5- put packets in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the packets into the box Q: immediate next step? \u003cPRED\u003eA: put packets in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packets in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packets 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 packets 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 packets in the box\n\u003c/PRED\u003e","video":"938654129231264053.mp4"}
+{"uid":"13690891989054037616","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove close to 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":"13422745628526022570.mp4"}
+{"uid":"9433877027987862322","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the packets into the box. last 20 steps: 1- put packets in the box 2- put packets in the box 3- put packets in the box 4- put packets in the box 5- put packet in the box Q: immediate next step? \u003cPRED\u003eA: put white packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput white packet 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the packets into the box Q: immediate next step? \u003cPRED\u003eA: put white packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the packets into the box. last 20 steps: 1- put packets in the box 2- put packets in the box 3- put packets in the box 4- put packets in the box 5- put packet in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put white packet in the cardboard box 2- put packets in the box 3- put packet in the box 4- put packets in the box 5- put packets in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput white packet in the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15896770417951497712.mp4"}
+{"uid":"1759861282343776087","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":"5091867737369735802.mp4"}
+{"uid":"252126472895787308","text":"\u003ctask:success:discrete:True\u003e\nput packets 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 packets in the box\n\u003c/PRED\u003e","video":"879230322567287697.mp4"}
+{"uid":"4715721328125978814","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":"8402858572462513997.mp4"}
+{"uid":"4072472644907123650","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the silver packets in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the silver packets 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":"16427012587400608418.mp4"}
+{"uid":"6057407976157285644","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put back all the oatmeal to the rack Q: immediate next step? \u003cPRED\u003eA: put packet in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put back all the oatmeal to the rack. last 20 steps: 1- put packet in the stand 2- put packet in the stand Q: immediate next step? \u003cPRED\u003eA: put packet in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put back all the oatmeal to the rack. last 20 steps: 1- put packet in the stand 2- put packet in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the stand 2- put packet in the stand 3- put packet in the stand 4- put packet in the stand 5- put packet in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7986292448591073852.mp4"}
+{"uid":"15438776722694918639","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput white packets 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":"6386165581802943742.mp4"}
+{"uid":"9190552658328497722","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put spoon in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put spoon in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the spilled spoons and place them back into the cup. last 20 steps: 1- put holder upright 2- put spoon in the holder 3- put spoon in the holder Q: immediate next step? \u003cPRED\u003eA: put spoon in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the spilled spoons and place them back into the cup. last 20 steps: 1- put holder upright 2- put spoon in the holder 3- put spoon in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put spoon in the holder 2- put spoon in the holder 3- put spoon in the holder 4- put spoon in the holder 5- put spoon in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput spoon 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 all the spilled spoons and place them back into the cup Q: immediate next step? \u003cPRED\u003eA: put spoon in the holder\n\u003c/PRED\u003e","video":"9439917219007846962.mp4"}
+{"uid":"2247132070447277609","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packet in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput packet in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"957713621815394190.mp4"}
+{"uid":"13199709806693078400","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the sticky notes in glass vessel Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16526260273037897557.mp4"}
+{"uid":"3689462187517134121","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the knife 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":"6999775264965756792.mp4"}
+{"uid":"1231194622384059508","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"11026842458597058227.mp4"}
+{"uid":"17533464809553202019","text":"\u003ctask:success:discrete:True\u003e\nput packets 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 packets in the box\n\u003c/PRED\u003e","video":"8869424349928474127.mp4"}
+{"uid":"13866029410450731776","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the packets into the box. last 20 steps: 1- put packets in the box 2- put packets in the box 3- put packets in the box 4- put packets in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the box 2- put packet in the box 3- put packets in the box 4- put packet in the box 5- put packets in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the packets into the box Q: immediate next step? \u003cPRED\u003eA: put packet in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the packets into the box. last 20 steps: 1- put packets in the box 2- put packets in the box 3- put packets in the box 4- put packets in the box Q: immediate next step? \u003cPRED\u003eA: put packet in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the box\n\u003c/PRED\u003e","video":"1031954262801014306.mp4"}
+{"uid":"17078030619387577633","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the packets into the box Q: immediate next step? \u003cPRED\u003eA: put packet in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the packets into the box. last 20 steps: 1- put packets in the box 2- put packets in the box 3- put packets in the box 4- put packets in the box 5- put packet in the box 6- put packet in the box 7- put packets in the box 8- put packet in the box 9- put packets in the box 10- put packets in the box 11- put packets in the box 12- put packets in the box 13- put packet in the box 14- put white packet in the cardboard box 15- put white packet in the cardboard box 16- put white packet in the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the box 2- put packet in the box 3- put packet in the box 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the packets into the box. last 20 steps: 1- put packets in the box 2- put packets in the box 3- put packets in the box 4- put packets in the box 5- put packet in the box 6- put packet in the box 7- put packets in the box 8- put packet in the box 9- put packets in the box 10- put packets in the box 11- put packets in the box 12- put packets in the box 13- put packet in the box 14- put white packet in the cardboard box 15- put white packet in the cardboard box 16- put white packet in the cardboard box Q: immediate next step? \u003cPRED\u003eA: put packet in the box\n\u003c/PRED\u003e","video":"16398106634570042092.mp4"}
+{"uid":"5110918800472422228","text":"\u003ctask:success:discrete:True\u003e\nput white packets in the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e","video":"15109501263801735080.mp4"}
+{"uid":"1275657291048876080","text":"\u003ctask:success:discrete:False\u003e\nput packet in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the packets into the box Q: immediate next step? \u003cPRED\u003eA: put packet in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the packets into the box. last 20 steps: 1- put packets in the box 2- put packets in the box 3- put packets in the box 4- put packets in the box 5- put packet in the box 6- put packet in the box 7- put packets in the box Q: immediate next step? \u003cPRED\u003eA: put packet in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the packets into the box. last 20 steps: 1- put packets in the box 2- put packets in the box 3- put packets in the box 4- put packets in the box 5- put packet in the box 6- put packet in the box 7- put packets in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the box 2- put packets in the box 3- put packets in the box 4- put packets in the box 5- put packets in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the box\n\u003c/PRED\u003e","video":"652527911672577772.mp4"}
+{"uid":"11793602949627197898","text":"\u003ctask:success:discrete:True\u003e\nput white packets in the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e","video":"9724262224765983093.mp4"}
+{"uid":"2153324387999723670","text":"\u003ctask:success:discrete:False\u003e\nPut the silver packets in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the silver packets in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the packets into the box. last 20 steps: 1- put packets in the box 2- put packets in the box 3- put packets in the box 4- put packets in the box 5- put packet in the box 6- put packet in the box 7- put packets in the box 8- put packet in the box Q: immediate next step? \u003cPRED\u003eA: Put the silver packets in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the silver packets in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the packets into the box Q: immediate next step? \u003cPRED\u003eA: Put the silver packets in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the silver packets in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the packets into the box. last 20 steps: 1- put packets in the box 2- put packets in the box 3- put packets in the box 4- put packets in the box 5- put packet in the box 6- put packet in the box 7- put packets in the box 8- put packet in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the silver packets in the box 2- put packets in the box 3- put packets in the box 4- put packets in the box 5- put packet in the box\n\u003c/PRED\u003e","video":"10239285201878007157.mp4"}
+{"uid":"2540064176640020766","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the black pen into the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5945122315452485008.mp4"}
+{"uid":"4796281746999953632","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":"4751776853088374543.mp4"}
+{"uid":"14606303266820733496","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput white packet 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:planning:freeform\u003e\ncurrent goal is: put the packets into the box Q: immediate next step? \u003cPRED\u003eA: put white packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput white packet 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: put the packets into the box. last 20 steps: 1- put packets in the box 2- put packets in the box 3- put packets in the box 4- put packets in the box 5- put packet in the box 6- put packet in the box 7- put packets in the box 8- put packet in the box 9- put packets in the box 10- put packets in the box 11- put packets in the box 12- put packets in the box 13- put packet in the box 14- put white packet in the cardboard box 15- put white packet in the cardboard box 16- put white packet in the cardboard box 17- put packet in the box 18- put packet in the box Q: immediate next step? \u003cPRED\u003eA: put white packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the packets into the box. last 20 steps: 1- put packets in the box 2- put packets in the box 3- put packets in the box 4- put packets in the box 5- put packet in the box 6- put packet in the box 7- put packets in the box 8- put packet in the box 9- put packets in the box 10- put packets in the box 11- put packets in the box 12- put packets in the box 13- put packet in the box 14- put white packet in the cardboard box 15- put white packet in the cardboard box 16- put white packet in the cardboard box 17- put packet in the box 18- put packet in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put white packet in the cardboard box 2- done\n\u003c/PRED\u003e","video":"9768201924242809191.mp4"}
+{"uid":"9510688050152160787","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the sticky note 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":"7130390545305981647.mp4"}
+{"uid":"8201526685492551805","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the book on 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":"407900021975926095.mp4"}
+{"uid":"8544078118946705260","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput black pen in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18368782435273817610.mp4"}
+{"uid":"11393909086381220115","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the candy on the candy Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7535652859792402437.mp4"}
+{"uid":"307110614074125787","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the yellow 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":"8517909726980376120.mp4"}
+{"uid":"10935180510362230025","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12356909454870950539.mp4"}
+{"uid":"5022104775391814557","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the packets into the box. last 20 steps: 1- put packets in the box 2- put packets in the box 3- put packets in the box 4- put packets in the box 5- put packet in the box 6- put packet in the box 7- put packets in the box 8- put packet in the box 9- put packets in the box 10- put packets in the box 11- put packets in the box 12- put packets in the box 13- put packet in the box 14- put white packet in the cardboard box 15- put white packet in the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- put white packet in the cardboard box 2- put packet in the box 3- put packet in the box 4- put packet in the box 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput white packet 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:planning:freeform\u003e\ncurrent goal is: put the packets into the box Q: immediate next step? \u003cPRED\u003eA: put white packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the packets into the box. last 20 steps: 1- put packets in the box 2- put packets in the box 3- put packets in the box 4- put packets in the box 5- put packet in the box 6- put packet in the box 7- put packets in the box 8- put packet in the box 9- put packets in the box 10- put packets in the box 11- put packets in the box 12- put packets in the box 13- put packet in the box 14- put white packet in the cardboard box 15- put white packet in the cardboard box Q: immediate next step? \u003cPRED\u003eA: put white packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput white packet 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white packet in the cardboard box\n\u003c/PRED\u003e","video":"18238388452524878003.mp4"}
+{"uid":"3226908540460342939","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the pista Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16621534711509718596.mp4"}
+{"uid":"13512947897345404553","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput chess piece in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11013287971812867789.mp4"}
+{"uid":"2302221349020557554","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the packets into the box Q: immediate next step? \u003cPRED\u003eA: put white packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput white packet 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: put the packets into the box. last 20 steps: 1- put packets in the box 2- put packets in the box 3- put packets in the box 4- put packets in the box 5- put packet in the box 6- put packet in the box 7- put packets in the box 8- put packet in the box 9- put packets in the box 10- put packets in the box 11- put packets in the box 12- put packets in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put white packet in the cardboard box 2- put white packet in the cardboard box 3- put white packet in the cardboard box 4- put white packet in the cardboard box 5- put packet in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the packets into the box. last 20 steps: 1- put packets in the box 2- put packets in the box 3- put packets in the box 4- put packets in the box 5- put packet in the box 6- put packet in the box 7- put packets in the box 8- put packet in the box 9- put packets in the box 10- put packets in the box 11- put packets in the box 12- put packets in the box Q: immediate next step? \u003cPRED\u003eA: put white packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput white packet 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white packet in the cardboard box\n\u003c/PRED\u003e","video":"13664761602091952164.mp4"}
+{"uid":"8152203739085487642","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the packets into the box. last 20 steps: 1- put packets in the box 2- put packets in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put packets in the box 2- put packets in the box 3- put packet in the box 4- put packet in the box 5- put packets in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packets in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the packets into the box. last 20 steps: 1- put packets in the box 2- put packets in the box Q: immediate next step? \u003cPRED\u003eA: put packets in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the packets into the box Q: immediate next step? \u003cPRED\u003eA: put packets in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packets in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packets in the box\n\u003c/PRED\u003e","video":"4502173700384812582.mp4"}
+{"uid":"6613787754749220518","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":"8410687515456304423.mp4"}
+{"uid":"4506513085097943712","text":"\u003ctask:success:discrete:True\u003e\nput white packet in the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put white packet in the cardboard box\n\u003c/PRED\u003e","video":"16446705911663188007.mp4"}
+{"uid":"17169816406842757052","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packets in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput packets 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":"13021608341941713094.mp4"}
+{"uid":"2888628758398880783","text":"\u003ctask:success:discrete:False\u003e\nPut the silver packet in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the packets into the box Q: immediate next step? \u003cPRED\u003eA: Put the silver packet in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the silver packet in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the packets into the box. last 20 steps: 1- put packets in the box 2- put packets in the box 3- put packets in the box 4- put packets in the box Q: immediate next step? \u003cPRED\u003eA: Put the silver packet in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the packets into the box. last 20 steps: 1- put packets in the box 2- put packets in the box 3- put packets in the box 4- put packets in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the silver packet in the box 2- put packet in the box 3- put packets in the box 4- put packet in the box 5- put packets in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the silver packet in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the silver packet in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8910697850249482514.mp4"}
+{"uid":"9942025840239243630","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":"3798644085648589566.mp4"}
+{"uid":"2178603587882656490","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput white packets 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput white packets 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: put the packets into the box. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the packets into the box. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put white packets in the cardboard box 2- put packets in the box 3- put packets in the box 4- put packets in the box 5- put packet in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the packets into the box Q: immediate next step? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e","video":"8641493734368260396.mp4"}
+{"uid":"8241083020890854864","text":"\u003ctask:success:discrete:False\u003e\nPut the silver packet in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the silver packet in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the silver packet in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the packets into the box. last 20 steps: 1- put packets in the box 2- put packets in the box 3- put packets in the box 4- put packets in the box 5- put packet in the box 6- put packet in the box 7- put packets in the box 8- put packet in the box 9- put packets in the box 10- put packets in the box 11- put packets in the box 12- put packets in the box Q: immediate next step? \u003cPRED\u003eA: Put the silver packet in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the silver packet in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the packets into the box. last 20 steps: 1- put packets in the box 2- put packets in the box 3- put packets in the box 4- put packets in the box 5- put packet in the box 6- put packet in the box 7- put packets in the box 8- put packet in the box 9- put packets in the box 10- put packets in the box 11- put packets in the box 12- put packets in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the silver packet in the box 2- put white packet in the cardboard box 3- put white packet in the cardboard box 4- put white packet in the cardboard box 5- put packet in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the packets into the box Q: immediate next step? \u003cPRED\u003eA: Put the silver packet in the box\n\u003c/PRED\u003e","video":"9893653668767013924.mp4"}
+{"uid":"9178632198037129187","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the packets into the box. last 20 steps: 1- put packets in the box 2- put packets in the box 3- put packets in the box 4- put packets in the box 5- put packet in the box 6- put packet in the box 7- put packets in the box 8- put packet in the box 9- put packets in the box 10- put packets in the box 11- put packets in the box 12- put packets in the box 13- put packet in the box 14- put white packet in the cardboard box 15- put white packet in the cardboard box 16- put white packet in the cardboard box Q: immediate next step? \u003cPRED\u003eA: Put the silver packets in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the silver packets in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the packets into the box. last 20 steps: 1- put packets in the box 2- put packets in the box 3- put packets in the box 4- put packets in the box 5- put packet in the box 6- put packet in the box 7- put packets in the box 8- put packet in the box 9- put packets in the box 10- put packets in the box 11- put packets in the box 12- put packets in the box 13- put packet in the box 14- put white packet in the cardboard box 15- put white packet in the cardboard box 16- put white packet in the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the silver packets in the box 2- put packet in the box 3- put packet in the box 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the packets into the box Q: immediate next step? \u003cPRED\u003eA: Put the silver packets in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the silver packets in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the silver packets 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 silver packets 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":"4371320476965868353.mp4"}
+{"uid":"14589718540203732079","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":"16387801716193409859.mp4"}
+{"uid":"11296240201295984676","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput marker 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":"15130853052880424558.mp4"}
+{"uid":"14189654926485048011","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the packets into the box. last 20 steps: 1- put packets in the box 2- put packets in the box 3- put packets in the box 4- put packets in the box Q: immediate next step? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the packets into the box Q: immediate next step? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the packets into the box. last 20 steps: 1- put packets in the box 2- put packets in the box 3- put packets in the box 4- put packets in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put white packets in the cardboard box 2- put packet in the box 3- put packets in the box 4- put packet in the box 5- put packets in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput white packets in the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17464457500541563069.mp4"}
+{"uid":"2196882868376183349","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":"10979432656523008913.mp4"}
+{"uid":"10901771940324085359","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput white packet 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: put the packets into the box. last 20 steps: 1- put packets in the box 2- put packets in the box 3- put packets in the box 4- put packets in the box 5- put packet in the box 6- put packet in the box 7- put packets in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put white packet in the cardboard box 2- put packets in the box 3- put packets in the box 4- put packets in the box 5- put packets in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the packets into the box Q: immediate next step? \u003cPRED\u003eA: put white packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput white packet 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: put the packets into the box. last 20 steps: 1- put packets in the box 2- put packets in the box 3- put packets in the box 4- put packets in the box 5- put packet in the box 6- put packet in the box 7- put packets in the box Q: immediate next step? \u003cPRED\u003eA: put white packet in the cardboard box\n\u003c/PRED\u003e","video":"5779695661662488361.mp4"}
+{"uid":"9149487351797207950","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the packets into the box. last 20 steps: 1- put packets in the box 2- put packets in the box 3- put packets in the box 4- put packets in the box 5- put packet in the box Q: immediate next step? \u003cPRED\u003eA: Put the silver packet in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the packets into the box Q: immediate next step? \u003cPRED\u003eA: Put the silver packet in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the silver packet in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the packets into the box. last 20 steps: 1- put packets in the box 2- put packets in the box 3- put packets in the box 4- put packets in the box 5- put packet in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the silver packet in the box 2- put packets in the box 3- put packet in the box 4- put packets in the box 5- put packets in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the silver packet in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the silver packet in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the silver packet in the box\n\u003c/PRED\u003e","video":"14670122534745209902.mp4"}
+{"uid":"3930707270164317151","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":"2937711942283711899.mp4"}
+{"uid":"4234929808084064617","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"7792341438173259690.mp4"}
+{"uid":"8899102549830168549","text":"\u003ctask:success:discrete:True\u003e\nput packets 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 packets in the box\n\u003c/PRED\u003e","video":"2149252398673908687.mp4"}
+{"uid":"263058407110524430","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"144357764193823029.mp4"}
+{"uid":"7916206252056082878","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the spilled spoons and place them back into the cup. last 20 steps: 1- put holder upright 2- put spoon in the holder 3- put spoon in the holder 4- put spoon in the holder 5- put spoon in the holder 6- put spoon in the holder 7- put spoon in the holder Q: immediate next step? \u003cPRED\u003eA: put spoon in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the spilled spoons and place them back into the cup. last 20 steps: 1- put holder upright 2- put spoon in the holder 3- put spoon in the holder 4- put spoon in the holder 5- put spoon in the holder 6- put spoon in the holder 7- put spoon in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put spoon in the holder 2- put spoon in the holder 3- put spoon in the holder 4- put spoon in the holder 5- drag the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up all the spilled spoons and place them back into the cup Q: immediate next step? \u003cPRED\u003eA: put spoon in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put spoon in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput spoon 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 spoon in the holder\n\u003c/PRED\u003e","video":"3022369587222031943.mp4"}
+{"uid":"12154465655516998045","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the lid on the existing lids in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18279839005492027860.mp4"}
+{"uid":"11185816772640024874","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drag the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the spilled spoons and place them back into the cup. last 20 steps: 1- put holder upright 2- put spoon in the holder 3- put spoon in the holder 4- put spoon in the holder 5- put spoon in the holder 6- put spoon in the holder 7- put spoon in the holder 8- put spoon in the holder 9- put spoon in the holder 10- put spoon in the holder 11- put spoon in the holder Q: immediate next step? \u003cPRED\u003eA: drag the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drag the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up all the spilled spoons and place them back into the cup Q: immediate next step? \u003cPRED\u003eA: drag the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the spilled spoons and place them back into the cup. last 20 steps: 1- put holder upright 2- put spoon in the holder 3- put spoon in the holder 4- put spoon in the holder 5- put spoon in the holder 6- put spoon in the holder 7- put spoon in the holder 8- put spoon in the holder 9- put spoon in the holder 10- put spoon in the holder 11- put spoon in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- drag the holder 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrag 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\ndrag 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":"14173332919925186915.mp4"}
+{"uid":"2654259583666328357","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packets in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the packets into the box. last 20 steps: 1- put packets in the box 2- put packets in the box 3- put packets in the box 4- put packets in the box 5- put packet in the box 6- put packet in the box 7- put packets in the box 8- put packet in the box 9- put packets in the box 10- put packets in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put packets in the box 2- put packets in the box 3- put packet in the box 4- put white packet in the cardboard box 5- put white packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packets in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packets in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the packets into the box Q: immediate next step? \u003cPRED\u003eA: put packets in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the packets into the box. last 20 steps: 1- put packets in the box 2- put packets in the box 3- put packets in the box 4- put packets in the box 5- put packet in the box 6- put packet in the box 7- put packets in the box 8- put packet in the box 9- put packets in the box 10- put packets in the box Q: immediate next step? \u003cPRED\u003eA: put packets in the box\n\u003c/PRED\u003e","video":"14984288080129382795.mp4"}
+{"uid":"14582718631205350087","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the packets into the box. last 20 steps: 1- put packets in the box 2- put packets in the box 3- put packets in the box 4- put packets in the box 5- put packet in the box 6- put packet in the box 7- put packets in the box 8- put packet in the box Q: immediate next step? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the packets into the box. last 20 steps: 1- put packets in the box 2- put packets in the box 3- put packets in the box 4- put packets in the box 5- put packet in the box 6- put packet in the box 7- put packets in the box 8- put packet in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put white packets in the cardboard box 2- put packets in the box 3- put packets in the box 4- put packets in the box 5- put packet in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput white packets 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 white packets 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:planning:freeform\u003e\ncurrent goal is: put the packets into the box Q: immediate next step? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e","video":"17779980066596267040.mp4"}
+{"uid":"10774575408874309223","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the packets into the box Q: immediate next step? \u003cPRED\u003eA: Put the silver packet in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the silver packet in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the packets into the box. last 20 steps: 1- put packets in the box 2- put packets in the box 3- put packets in the box 4- put packets in the box 5- put packet in the box 6- put packet in the box 7- put packets in the box 8- put packet in the box 9- put packets in the box 10- put packets in the box 11- put packets in the box 12- put packets in the box 13- put packet in the box 14- put white packet in the cardboard box 15- put white packet in the cardboard box 16- put white packet in the cardboard box 17- put packet in the box 18- put packet in the box Q: immediate next step? \u003cPRED\u003eA: Put the silver packet in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the silver packet in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the silver packet in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the packets into the box. last 20 steps: 1- put packets in the box 2- put packets in the box 3- put packets in the box 4- put packets in the box 5- put packet in the box 6- put packet in the box 7- put packets in the box 8- put packet in the box 9- put packets in the box 10- put packets in the box 11- put packets in the box 12- put packets in the box 13- put packet in the box 14- put white packet in the cardboard box 15- put white packet in the cardboard box 16- put white packet in the cardboard box 17- put packet in the box 18- put packet in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the silver packet in the box 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the silver packet in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13711304764724395238.mp4"}
+{"uid":"3329732612556561373","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the packets into the box. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the silver packets in the box 2- put packets in the box 3- put packets in the box 4- put packets in the box 5- put packet in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the silver packets 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 silver packets in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the packets into the box Q: immediate next step? \u003cPRED\u003eA: Put the silver packets in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the silver packets in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the packets into the box. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the silver packets in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the silver packets in the box\n\u003c/PRED\u003e","video":"12383720156343640712.mp4"}
+{"uid":"8134493870482400880","text":"\u003ctask:success:discrete:True\u003e\nput white packets in the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e","video":"10496070038566972878.mp4"}
+{"uid":"10118843821734994951","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the packets into the box Q: immediate next step? \u003cPRED\u003eA: Put the silver packets in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the silver packets in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the silver packets in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the packets into the box. last 20 steps: 1- put packets in the box 2- put packets in the box 3- put packets in the box 4- put packets in the box 5- put packet in the box 6- put packet in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the silver packets in the box 2- put packet in the box 3- put packets in the box 4- put packets in the box 5- put packets in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the silver packets in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the packets into the box. last 20 steps: 1- put packets in the box 2- put packets in the box 3- put packets in the box 4- put packets in the box 5- put packet in the box 6- put packet in the box Q: immediate next step? \u003cPRED\u003eA: Put the silver packets in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the silver packets 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":"16727163459393878991.mp4"}
+{"uid":"148952558688580573","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace chip bag 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":"14647658551466799072.mp4"}
+{"uid":"5892790201236927002","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the packets into the box. last 20 steps: 1- put packets in the box 2- put packets in the box 3- put packets in the box 4- put packets in the box 5- put packet in the box 6- put packet in the box 7- put packets in the box 8- put packet in the box 9- put packets in the box 10- put packets in the box 11- put packets in the box 12- put packets in the box 13- put packet in the box 14- put white packet in the cardboard box 15- put white packet in the cardboard box 16- put white packet in the cardboard box 17- put packet in the box 18- put packet in the box 19- put packet in the box Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packet in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the packets into the box. last 20 steps: 1- put packets in the box 2- put packets in the box 3- put packets in the box 4- put packets in the box 5- put packet in the box 6- put packet in the box 7- put packets in the box 8- put packet in the box 9- put packets in the box 10- put packets in the box 11- put packets in the box 12- put packets in the box 13- put packet in the box 14- put white packet in the cardboard box 15- put white packet in the cardboard box 16- put white packet in the cardboard box 17- put packet in the box 18- put packet in the box 19- put packet in the box Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput packet in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the packets into the box Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"10431242270713715531.mp4"}
+{"uid":"17737805955363573496","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pink 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":"395181722015869796.mp4"}
+{"uid":"17209389451538356851","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put spoon in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the spilled spoons and place them back into the cup. last 20 steps: 1- put holder upright 2- put spoon in the holder 3- put spoon in the holder 4- put spoon in the holder 5- put spoon in the holder Q: immediate next step? \u003cPRED\u003eA: put spoon in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put spoon in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the spilled spoons and place them back into the cup. last 20 steps: 1- put holder upright 2- put spoon in the holder 3- put spoon in the holder 4- put spoon in the holder 5- put spoon in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put spoon in the holder 2- put spoon in the holder 3- put spoon in the holder 4- put spoon in the holder 5- put spoon in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput spoon 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 all the spilled spoons and place them back into the cup Q: immediate next step? \u003cPRED\u003eA: put spoon in the holder\n\u003c/PRED\u003e","video":"17986537880373448206.mp4"}
+{"uid":"17376257261771456298","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the rold gold 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":"9366610387185529278.mp4"}
+{"uid":"6272177880908405952","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put back all the oatmeal to the rack Q: immediate next step? \u003cPRED\u003eA: put packet in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put back all the oatmeal to the rack. last 20 steps: 1- put packet in the stand 2- put packet in the stand 3- put packet in the stand Q: immediate next step? \u003cPRED\u003eA: put packet in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put back all the oatmeal to the rack. last 20 steps: 1- put packet in the stand 2- put packet in the stand 3- put packet in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the stand 2- put packet in the stand 3- put packet in the stand 4- put packet in the stand 5- put packet in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15662811095299115605.mp4"}
+{"uid":"6499196612713748894","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put back all the oatmeal to the rack. last 20 steps: 1- put packet in the stand 2- put packet in the stand 3- put packet in the stand 4- put packet in the stand 5- put packet in the stand 6- put packet in the stand 7- put packet in the stand 8- put packet in the stand 9- put packet in the stand Q: immediate next step? \u003cPRED\u003eA: put packet in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put back all the oatmeal to the rack. last 20 steps: 1- put packet in the stand 2- put packet in the stand 3- put packet in the stand 4- put packet in the stand 5- put packet in the stand 6- put packet in the stand 7- put packet in the stand 8- put packet in the stand 9- put packet in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the stand 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put back all the oatmeal to the rack Q: immediate next step? \u003cPRED\u003eA: put packet in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the stand\n\u003c/PRED\u003e","video":"9873587562735195766.mp4"}
+{"uid":"5060304332020978501","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the packets into the box Q: immediate next step? \u003cPRED\u003eA: put packet in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the packets into the box. last 20 steps: 1- put packets in the box 2- put packets in the box 3- put packets in the box 4- put packets in the box 5- put packet in the box 6- put packet in the box 7- put packets in the box 8- put packet in the box 9- put packets in the box 10- put packets in the box 11- put packets in the box 12- put packets in the box 13- put packet in the box 14- put white packet in the cardboard box 15- put white packet in the cardboard box 16- put white packet in the cardboard box 17- put packet in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the box 2- put packet in the box 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the packets into the box. last 20 steps: 1- put packets in the box 2- put packets in the box 3- put packets in the box 4- put packets in the box 5- put packet in the box 6- put packet in the box 7- put packets in the box 8- put packet in the box 9- put packets in the box 10- put packets in the box 11- put packets in the box 12- put packets in the box 13- put packet in the box 14- put white packet in the cardboard box 15- put white packet in the cardboard box 16- put white packet in the cardboard box 17- put packet in the box Q: immediate next step? \u003cPRED\u003eA: put packet in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10464550327756929003.mp4"}
+{"uid":"9241234682196399387","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nTurn 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":"4149961131514942719.mp4"}
+{"uid":"5688928439253839365","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put back all the oatmeal to the rack. last 20 steps: 1- put packet in the stand 2- put packet in the stand 3- put packet in the stand 4- put packet in the stand 5- put packet in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the stand 2- put packet in the stand 3- put packet in the stand 4- put packet in the stand 5- put packet in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put back all the oatmeal to the rack Q: immediate next step? \u003cPRED\u003eA: put packet in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put back all the oatmeal to the rack. last 20 steps: 1- put packet in the stand 2- put packet in the stand 3- put packet in the stand 4- put packet in the stand 5- put packet in the stand Q: immediate next step? \u003cPRED\u003eA: put packet in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the stand\n\u003c/PRED\u003e","video":"5370243281920100846.mp4"}
+{"uid":"14650010454974109737","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the spilled spoons and place them back into the cup. last 20 steps: 1- put holder upright Q: immediate next step? \u003cPRED\u003eA: put spoon in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put spoon in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput spoon 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 all the spilled spoons and place them back into the cup Q: immediate next step? \u003cPRED\u003eA: put spoon in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the spilled spoons and place them back into the cup. last 20 steps: 1- put holder upright Q: next 5 steps? \u003cPRED\u003eA: 1- put spoon in the holder 2- put spoon in the holder 3- put spoon in the holder 4- put spoon in the holder 5- put spoon in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put spoon in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput spoon 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":"11969744255522576823.mp4"}
+{"uid":"11657239108144001855","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the packets into the box. last 20 steps: 1- put packets in the box 2- put packets in the box 3- put packets in the box 4- put packets in the box 5- put packet in the box 6- put packet in the box 7- put packets in the box 8- put packet in the box 9- put packets in the box 10- put packets in the box 11- put packets in the box 12- put packets in the box Q: immediate next step? \u003cPRED\u003eA: put packet in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the packets into the box Q: immediate next step? \u003cPRED\u003eA: put packet in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the packets into the box. last 20 steps: 1- put packets in the box 2- put packets in the box 3- put packets in the box 4- put packets in the box 5- put packet in the box 6- put packet in the box 7- put packets in the box 8- put packet in the box 9- put packets in the box 10- put packets in the box 11- put packets in the box 12- put packets in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the box 2- put white packet in the cardboard box 3- put white packet in the cardboard box 4- put white packet in the cardboard box 5- put packet in the box\n\u003c/PRED\u003e","video":"18188171021740952524.mp4"}
+{"uid":"5846821288899964038","text":"\u003ctask:success:discrete:True\u003e\nPut the silver packets 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 silver packets in the box\n\u003c/PRED\u003e","video":"5311762216843119640.mp4"}
+{"uid":"3697084494648158319","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":"13451717047881074112.mp4"}
+{"uid":"7768961994207713607","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put back all the oatmeal to the rack Q: immediate next step? \u003cPRED\u003eA: put packet in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put back all the oatmeal to the rack. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put packet in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put back all the oatmeal to the rack. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the stand 2- put packet in the stand 3- put packet in the stand 4- put packet in the stand 5- put packet in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3396931142270005635.mp4"}
+{"uid":"16022766560435071744","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrive towards the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9644688869266607579.mp4"}
+{"uid":"3174539384405077667","text":"\u003ctask:success:discrete:True\u003e\nPut the silver packet in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the silver packet in the box\n\u003c/PRED\u003e","video":"12519185450121157542.mp4"}
+{"uid":"11985073829275200334","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the packets into the box Q: immediate next step? \u003cPRED\u003eA: put packet in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the packets into the box. last 20 steps: 1- put packets in the box 2- put packets in the box 3- put packets in the box 4- put packets in the box 5- put packet in the box 6- put packet in the box 7- put packets in the box 8- put packet in the box 9- put packets in the box 10- put packets in the box 11- put packets in the box 12- put packets in the box 13- put packet in the box 14- put white packet in the cardboard box 15- put white packet in the cardboard box 16- put white packet in the cardboard box 17- put packet in the box 18- put packet in the box Q: immediate next step? \u003cPRED\u003eA: put packet in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the packets into the box. last 20 steps: 1- put packets in the box 2- put packets in the box 3- put packets in the box 4- put packets in the box 5- put packet in the box 6- put packet in the box 7- put packets in the box 8- put packet in the box 9- put packets in the box 10- put packets in the box 11- put packets in the box 12- put packets in the box 13- put packet in the box 14- put white packet in the cardboard box 15- put white packet in the cardboard box 16- put white packet in the cardboard box 17- put packet in the box 18- put packet in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the box 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14628507270496084529.mp4"}
+{"uid":"17476610316975582099","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput white packets 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the packets into the box. last 20 steps: 1- put packets in the box 2- put packets in the box 3- put packets in the box 4- put packets in the box 5- put packet in the box 6- put packet in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put white packets in the cardboard box 2- put packet in the box 3- put packets in the box 4- put packets in the box 5- put packets in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput white packets 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: put the packets into the box. last 20 steps: 1- put packets in the box 2- put packets in the box 3- put packets in the box 4- put packets in the box 5- put packet in the box 6- put packet in the box Q: immediate next step? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the packets into the box Q: immediate next step? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e","video":"2632682766645418375.mp4"}
+{"uid":"8156218784741887721","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up all the spilled spoons and place them back into the cup Q: immediate next step? \u003cPRED\u003eA: put spoon in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput spoon 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 all the spilled spoons and place them back into the cup. last 20 steps: 1- put holder upright 2- put spoon in the holder 3- put spoon in the holder 4- put spoon in the holder 5- put spoon in the holder 6- put spoon in the holder 7- put spoon in the holder 8- put spoon in the holder Q: immediate next step? \u003cPRED\u003eA: put spoon in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put spoon in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put spoon in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the spilled spoons and place them back into the cup. last 20 steps: 1- put holder upright 2- put spoon in the holder 3- put spoon in the holder 4- put spoon in the holder 5- put spoon in the holder 6- put spoon in the holder 7- put spoon in the holder 8- put spoon in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put spoon in the holder 2- put spoon in the holder 3- put spoon in the holder 4- drag the holder 5- done\n\u003c/PRED\u003e","video":"6036692370380767696.mp4"}
+{"uid":"10220518663954529742","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the packets into the box. last 20 steps: 1- put packets in the box 2- put packets in the box 3- put packets in the box 4- put packets in the box 5- put packet in the box 6- put packet in the box 7- put packets in the box 8- put packet in the box 9- put packets in the box 10- put packets in the box 11- put packets in the box Q: immediate next step? \u003cPRED\u003eA: put packets in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the packets into the box Q: immediate next step? \u003cPRED\u003eA: put packets in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packets in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packets in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packets in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the packets into the box. last 20 steps: 1- put packets in the box 2- put packets in the box 3- put packets in the box 4- put packets in the box 5- put packet in the box 6- put packet in the box 7- put packets in the box 8- put packet in the box 9- put packets in the box 10- put packets in the box 11- put packets in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put packets in the box 2- put packet in the box 3- put white packet in the cardboard box 4- put white packet in the cardboard box 5- put white packet in the cardboard box\n\u003c/PRED\u003e","video":"6823700515652035326.mp4"}
+{"uid":"16134851773187529449","text":"\u003ctask:success:discrete:True\u003e\nPut the silver packets 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 silver packets in the box\n\u003c/PRED\u003e","video":"3972017880097408520.mp4"}
+{"uid":"10768621726828591240","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the white chip packet in a tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18411604137134330381.mp4"}
+{"uid":"741794751098302643","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the black packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17580405142409073526.mp4"}
+{"uid":"6199069930013259167","text":"\u003ctask:success:discrete:False\u003e\nput white packets 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:planning:freeform\u003e\ncurrent goal is: put the packets into the box Q: immediate next step? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the packets into the box. last 20 steps: 1- put packets in the box 2- put packets in the box 3- put packets in the box 4- put packets in the box 5- put packet in the box 6- put packet in the box 7- put packets in the box 8- put packet in the box 9- put packets in the box Q: immediate next step? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput white packets 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: put the packets into the box. last 20 steps: 1- put packets in the box 2- put packets in the box 3- put packets in the box 4- put packets in the box 5- put packet in the box 6- put packet in the box 7- put packets in the box 8- put packet in the box 9- put packets in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put white packets in the cardboard box 2- put packets in the box 3- put packets in the box 4- put packet in the box 5- put white packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e","video":"6973212311905615203.mp4"}
+{"uid":"14199388219906408102","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packet in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput packet in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3063984887698956657.mp4"}
+{"uid":"3488513310639321685","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the green pouches 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":"10262999622506245282.mp4"}
+{"uid":"3012294304610923657","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the bowl into the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11511162037796197728.mp4"}
+{"uid":"7589976234036326227","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"942342795830918545.mp4"}
+{"uid":"12219938718078956761","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput white packets 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":"8776757918203491119.mp4"}
+{"uid":"860369189360399571","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the spilled spoons and place them back into the cup. last 20 steps: 1- put holder upright 2- put spoon in the holder Q: immediate next step? \u003cPRED\u003eA: put spoon in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput spoon 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 all the spilled spoons and place them back into the cup Q: immediate next step? \u003cPRED\u003eA: put spoon in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put spoon in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the spilled spoons and place them back into the cup. last 20 steps: 1- put holder upright 2- put spoon in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put spoon in the holder 2- put spoon in the holder 3- put spoon in the holder 4- put spoon in the holder 5- put spoon in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put spoon in the holder\n\u003c/PRED\u003e","video":"1555573962300268851.mp4"}
+{"uid":"18315158813727736260","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the silver packet in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the packets into the box Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the packets into the box. last 20 steps: 1- put packets in the box 2- put packets in the box 3- put packets in the box 4- put packets in the box 5- put packet in the box 6- put packet in the box 7- put packets in the box 8- put packet in the box 9- put packets in the box 10- put packets in the box 11- put packets in the box 12- put packets in the box 13- put packet in the box 14- put white packet in the cardboard box 15- put white packet in the cardboard box 16- put white packet in the cardboard box 17- put packet in the box 18- put packet in the box 19- Put the silver packet in the box Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the silver packet in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the packets into the box. last 20 steps: 1- put packets in the box 2- put packets in the box 3- put packets in the box 4- put packets in the box 5- put packet in the box 6- put packet in the box 7- put packets in the box 8- put packet in the box 9- put packets in the box 10- put packets in the box 11- put packets in the box 12- put packets in the box 13- put packet in the box 14- put white packet in the cardboard box 15- put white packet in the cardboard box 16- put white packet in the cardboard box 17- put packet in the box 18- put packet in the box 19- Put the silver packet in the box Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"13027174886813033530.mp4"}
+{"uid":"2080750289445553591","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput spoon 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 all the spilled spoons and place them back into the cup. last 20 steps: 1- put holder upright 2- put spoon in the holder 3- put spoon in the holder 4- put spoon in the holder 5- put spoon in the holder 6- put spoon in the holder 7- put spoon in the holder 8- put spoon in the holder 9- put spoon in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put spoon in the holder 2- put spoon in the holder 3- drag the holder 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put spoon in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up all the spilled spoons and place them back into the cup Q: immediate next step? \u003cPRED\u003eA: put spoon in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put spoon in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the spilled spoons and place them back into the cup. last 20 steps: 1- put holder upright 2- put spoon in the holder 3- put spoon in the holder 4- put spoon in the holder 5- put spoon in the holder 6- put spoon in the holder 7- put spoon in the holder 8- put spoon in the holder 9- put spoon in the holder Q: immediate next step? \u003cPRED\u003eA: put spoon in the holder\n\u003c/PRED\u003e","video":"817076282508662357.mp4"}
+{"uid":"16160046489318144185","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11769800178460117090.mp4"}
+{"uid":"15839600899140728192","text":"\u003ctask:success:discrete:True\u003e\nput white packets in the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e","video":"13758069596039549174.mp4"}
+{"uid":"12534668234871622699","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packets in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput packets 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":"17168448460626154403.mp4"}
+{"uid":"11286426987607557674","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the book Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8762574567595810755.mp4"}
+{"uid":"9101928632308004250","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put spoon in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput spoon 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":"501707579685216342.mp4"}
+{"uid":"1439861788766405740","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the packets into the box. last 20 steps: 1- put packets in the box 2- put packets in the box 3- put packets in the box 4- put packets in the box 5- put packet in the box 6- put packet in the box 7- put packets in the box 8- put packet in the box 9- put packets in the box 10- put packets in the box 11- put packets in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the silver packets in the box 2- put packet in the box 3- put white packet in the cardboard box 4- put white packet in the cardboard box 5- put white packet 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 silver packets in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the packets into the box. last 20 steps: 1- put packets in the box 2- put packets in the box 3- put packets in the box 4- put packets in the box 5- put packet in the box 6- put packet in the box 7- put packets in the box 8- put packet in the box 9- put packets in the box 10- put packets in the box 11- put packets in the box Q: immediate next step? \u003cPRED\u003eA: Put the silver packets in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the silver packets in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the packets into the box Q: immediate next step? \u003cPRED\u003eA: Put the silver packets in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the silver packets in the box\n\u003c/PRED\u003e","video":"3631954587690811809.mp4"}
+{"uid":"8233933248738333086","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nRelease 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":"8145720783832558497.mp4"}
+{"uid":"11319670863316215933","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":"15737625101580983492.mp4"}
+{"uid":"1198673436435228528","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the packets into the box. last 20 steps: 1- put packets in the box 2- put packets in the box 3- put packets in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the silver packets in the box 2- put packet in the box 3- put packet in the box 4- put packets in the box 5- put packet in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the silver packets in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the packets into the box. last 20 steps: 1- put packets in the box 2- put packets in the box 3- put packets in the box Q: immediate next step? \u003cPRED\u003eA: Put the silver packets in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the silver packets in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the packets into the box Q: immediate next step? \u003cPRED\u003eA: Put the silver packets in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the silver packets in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the silver packets in the box\n\u003c/PRED\u003e","video":"15352843404698646478.mp4"}
+{"uid":"9788939002164817531","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nexit the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15573456133141469966.mp4"}
+{"uid":"16787641604527656509","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":"2848650252659974104.mp4"}
+{"uid":"8243985994975558920","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packets in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput packets 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":"3358244465124054119.mp4"}
+{"uid":"16888446092536793580","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put back all the oatmeal to the rack. last 20 steps: 1- put packet in the stand Q: immediate next step? \u003cPRED\u003eA: put packet in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put back all the oatmeal to the rack Q: immediate next step? \u003cPRED\u003eA: put packet in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put back all the oatmeal to the rack. last 20 steps: 1- put packet in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the stand 2- put packet in the stand 3- put packet in the stand 4- put packet in the stand 5- put packet in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the stand\n\u003c/PRED\u003e","video":"10972945625897027077.mp4"}
+{"uid":"1200983456567064449","text":"\u003ctask:success:discrete:False\u003e\nput packets in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packets in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the packets into the box. last 20 steps: 1- put packets in the box 2- put packets in the box 3- put packets in the box 4- put packets in the box 5- put packet in the box 6- put packet in the box 7- put packets in the box 8- put packet in the box Q: immediate next step? \u003cPRED\u003eA: put packets in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the packets into the box. last 20 steps: 1- put packets in the box 2- put packets in the box 3- put packets in the box 4- put packets in the box 5- put packet in the box 6- put packet in the box 7- put packets in the box 8- put packet in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put packets in the box 2- put packets in the box 3- put packets in the box 4- put packets in the box 5- put packet in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the packets into the box Q: immediate next step? \u003cPRED\u003eA: put packets in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packets in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packets 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":"17983122798229243945.mp4"}
+{"uid":"15887972923478013965","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the paper glasses Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4016140781092000604.mp4"}
+{"uid":"12684885807958824603","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the packets into the box Q: immediate next step? \u003cPRED\u003eA: put white packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput white packet 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:affordance:discriminative:discrete:True\u003e\nput white packet 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: put the packets into the box. last 20 steps: 1- put packets in the box 2- put packets in the box 3- put packets in the box 4- put packets in the box 5- put packet in the box 6- put packet in the box 7- put packets in the box 8- put packet in the box 9- put packets in the box 10- put packets in the box 11- put packets in the box 12- put packets in the box 13- put packet in the box 14- put white packet in the cardboard box 15- put white packet in the cardboard box 16- put white packet in the cardboard box 17- put packet in the box Q: immediate next step? \u003cPRED\u003eA: put white packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the packets into the box. last 20 steps: 1- put packets in the box 2- put packets in the box 3- put packets in the box 4- put packets in the box 5- put packet in the box 6- put packet in the box 7- put packets in the box 8- put packet in the box 9- put packets in the box 10- put packets in the box 11- put packets in the box 12- put packets in the box 13- put packet in the box 14- put white packet in the cardboard box 15- put white packet in the cardboard box 16- put white packet in the cardboard box 17- put packet in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put white packet in the cardboard box 2- put packet in the box 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white packet in the cardboard box\n\u003c/PRED\u003e","video":"11730941443782513183.mp4"}
+{"uid":"11974703660243196065","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the stick on the snooker 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":"9457759610127220329.mp4"}
+{"uid":"11884026500125650818","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the packets into the box. last 20 steps: 1- put packets in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put packets in the box 2- put packets in the box 3- put packets in the box 4- put packet in the box 5- put packet in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packets in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the packets into the box. last 20 steps: 1- put packets in the box Q: immediate next step? \u003cPRED\u003eA: put packets in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the packets into the box Q: immediate next step? \u003cPRED\u003eA: put packets in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packets in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packets in the box\n\u003c/PRED\u003e","video":"14178046812545978425.mp4"}
+{"uid":"4607444547599780669","text":"\u003ctask:success:discrete:True\u003e\nput packet in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packet in the box\n\u003c/PRED\u003e","video":"5863943352037137021.mp4"}
+{"uid":"2247258330018883238","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nlifting up the stamp box and dropped it in to the carbon box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5836899696623177383.mp4"}
+{"uid":"15708993016121252251","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put back all the oatmeal to the rack. last 20 steps: 1- put packet in the stand 2- put packet in the stand 3- put packet in the stand 4- put packet in the stand Q: immediate next step? \u003cPRED\u003eA: put packet in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put back all the oatmeal to the rack Q: immediate next step? \u003cPRED\u003eA: put packet in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put back all the oatmeal to the rack. last 20 steps: 1- put packet in the stand 2- put packet in the stand 3- put packet in the stand 4- put packet in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the stand 2- put packet in the stand 3- put packet in the stand 4- put packet in the stand 5- put packet in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the stand\n\u003c/PRED\u003e","video":"12743695550677140482.mp4"}
+{"uid":"15868640926710214892","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":"10608740738765258274.mp4"}
+{"uid":"16974193918222204642","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the green packet in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16331920460257855550.mp4"}
+{"uid":"10295522869176106041","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the silver packet in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the packets into the box Q: immediate next step? \u003cPRED\u003eA: Put the silver packet in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the packets into the box. last 20 steps: 1- put packets in the box 2- put packets in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the silver packet in the box 2- put packets in the box 3- put packet in the box 4- put packet in the box 5- put packets in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the silver packet in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the silver packet in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the packets into the box. last 20 steps: 1- put packets in the box 2- put packets in the box Q: immediate next step? \u003cPRED\u003eA: Put the silver packet in the box\n\u003c/PRED\u003e","video":"5065507504453191229.mp4"}
+{"uid":"4885779763604650767","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the silver packets in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the silver packets 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":"9401739394872719645.mp4"}
+{"uid":"6576532537421884554","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the packets into the box. last 20 steps: 1- put packets in the box 2- put packets in the box 3- put packets in the box 4- put packets in the box 5- put packet in the box 6- put packet in the box 7- put packets in the box 8- put packet in the box 9- put packets in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put packets in the box 2- put packets in the box 3- put packets in the box 4- put packet in the box 5- put white packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packets in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packets in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the packets into the box. last 20 steps: 1- put packets in the box 2- put packets in the box 3- put packets in the box 4- put packets in the box 5- put packet in the box 6- put packet in the box 7- put packets in the box 8- put packet in the box 9- put packets in the box Q: immediate next step? \u003cPRED\u003eA: put packets in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packets in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the packets into the box Q: immediate next step? \u003cPRED\u003eA: put packets in the box\n\u003c/PRED\u003e","video":"10559736278100603242.mp4"}
+{"uid":"14525448229235897052","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the sticky note on the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18155049528866289753.mp4"}
+{"uid":"1917407279888844458","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the white box from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"715278663434422797.mp4"}
+{"uid":"17841460674442963116","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrag the carry bag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7148203890022764215.mp4"}
+{"uid":"4293464803317331321","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npush the right most transparent glass 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":"4556663425884690192.mp4"}
+{"uid":"8843647481846127350","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":"7150503385251884032.mp4"}
+{"uid":"8516836095112240395","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the packets into the box Q: immediate next step? \u003cPRED\u003eA: Put the silver packets in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the silver packets in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the packets into the box. last 20 steps: 1- put packets in the box 2- put packets in the box 3- put packets in the box 4- put packets in the box 5- put packet in the box 6- put packet in the box 7- put packets in the box 8- put packet in the box 9- put packets in the box 10- put packets in the box 11- put packets in the box 12- put packets in the box 13- put packet in the box 14- put white packet in the cardboard box 15- put white packet in the cardboard box 16- put white packet in the cardboard box 17- put packet in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the silver packets in the box 2- put packet in the box 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the silver packets 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 silver packets in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the packets into the box. last 20 steps: 1- put packets in the box 2- put packets in the box 3- put packets in the box 4- put packets in the box 5- put packet in the box 6- put packet in the box 7- put packets in the box 8- put packet in the box 9- put packets in the box 10- put packets in the box 11- put packets in the box 12- put packets in the box 13- put packet in the box 14- put white packet in the cardboard box 15- put white packet in the cardboard box 16- put white packet in the cardboard box 17- put packet in the box Q: immediate next step? \u003cPRED\u003eA: Put the silver packets in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the silver packets in the box\n\u003c/PRED\u003e","video":"13529642261115499919.mp4"}
+{"uid":"2493013848660983047","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put spoon in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the spilled spoons and place them back into the cup. last 20 steps: 1- put holder upright 2- put spoon in the holder 3- put spoon in the holder 4- put spoon in the holder Q: immediate next step? \u003cPRED\u003eA: put spoon in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the spilled spoons and place them back into the cup. last 20 steps: 1- put holder upright 2- put spoon in the holder 3- put spoon in the holder 4- put spoon in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put spoon in the holder 2- put spoon in the holder 3- put spoon in the holder 4- put spoon in the holder 5- put spoon in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up all the spilled spoons and place them back into the cup Q: immediate next step? \u003cPRED\u003eA: put spoon in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput spoon 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 spoon in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput spoon 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":"1790949494845709747.mp4"}
+{"uid":"10076320488414656293","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packets in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput packets 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":"4351953858363627313.mp4"}
+{"uid":"1149342927465422738","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put white packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the packets into the box. last 20 steps: 1- put packets in the box 2- put packets in the box 3- put packets in the box 4- put packets in the box 5- put packet in the box 6- put packet in the box 7- put packets in the box 8- put packet in the box 9- put packets in the box 10- put packets in the box 11- put packets in the box 12- put packets in the box 13- put packet in the box 14- put white packet in the cardboard box 15- put white packet in the cardboard box 16- put white packet in the cardboard box 17- put packet in the box 18- put packet in the box 19- put white packet in the cardboard box Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput white packet in the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the packets into the box Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the packets into the box. last 20 steps: 1- put packets in the box 2- put packets in the box 3- put packets in the box 4- put packets in the box 5- put packet in the box 6- put packet in the box 7- put packets in the box 8- put packet in the box 9- put packets in the box 10- put packets in the box 11- put packets in the box 12- put packets in the box 13- put packet in the box 14- put white packet in the cardboard box 15- put white packet in the cardboard box 16- put white packet in the cardboard box 17- put packet in the box 18- put packet in the box 19- put white packet in the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"2451191209639272662.mp4"}
+{"uid":"7111310922901947139","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packets in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packets in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packets in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the packets into the box. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put packets in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the packets into the box Q: immediate next step? \u003cPRED\u003eA: put packets in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packets in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the packets into the box. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put packets in the box 2- put packets in the box 3- put packets in the box 4- put packets in the box 5- put packet in the box\n\u003c/PRED\u003e","video":"14089355751432969876.mp4"}
+{"uid":"7090023827276322948","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the silver packets in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the silver packets 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":"17125162183131381183.mp4"}
+{"uid":"14943771704162563180","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the packets into the box Q: immediate next step? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the packets into the box. last 20 steps: 1- put packets in the box 2- put packets in the box 3- put packets in the box 4- put packets in the box 5- put packet in the box 6- put packet in the box 7- put packets in the box 8- put packet in the box 9- put packets in the box 10- put packets in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put white packets in the cardboard box 2- put packets in the box 3- put packet in the box 4- put white packet in the cardboard box 5- put white packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput white packets 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: put the packets into the box. last 20 steps: 1- put packets in the box 2- put packets in the box 3- put packets in the box 4- put packets in the box 5- put packet in the box 6- put packet in the box 7- put packets in the box 8- put packet in the box 9- put packets in the box 10- put packets in the box Q: immediate next step? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e","video":"9007422084012282249.mp4"}
+{"uid":"10781940284751807055","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove away from the microwave oven Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16475181326553095835.mp4"}
+{"uid":"5592919288873535051","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput white packets 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: put the packets into the box. last 20 steps: 1- put packets in the box 2- put packets in the box 3- put packets in the box Q: immediate next step? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the packets into the box Q: immediate next step? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the packets into the box. last 20 steps: 1- put packets in the box 2- put packets in the box 3- put packets in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put white packets in the cardboard box 2- put packet in the box 3- put packet in the box 4- put packets in the box 5- put packet in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e","video":"13786035611043930550.mp4"}
+{"uid":"5363135269497294668","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":"5261162698209217452.mp4"}
+{"uid":"13423795649480316818","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":"5348477996011836550.mp4"}
+{"uid":"2982841514176470962","text":"\u003ctask:success:discrete:True\u003e\nput 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 apple into the jar\n\u003c/PRED\u003e","video":"12511415992879796768.mp4"}
+{"uid":"2698513006519398354","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput chair inside the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"95714085776734141.mp4"}
+{"uid":"8147027481174745437","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":"8911954339692264266.mp4"}
+{"uid":"1739812004689918230","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the apple into the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace 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":"2064601463699280146.mp4"}
+{"uid":"8653862875727357097","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":"4320067350839907868.mp4"}
+{"uid":"3906706687605711171","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrag the blue marker 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":"16331246957328404750.mp4"}
+{"uid":"1825002066622797166","text":"\u003ctask:success:discrete:True\u003e\nplace 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: place the apple into the jar\n\u003c/PRED\u003e","video":"14717254938581238774.mp4"}
+{"uid":"17922344651654601394","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange into the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place place the fruits into the jar. last 20 steps: 1- put apple into the jar 2- put apple into the jar 3- put orange into the jar 4- put apple into the jar 5- put orange into the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put orange into the jar 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place place the fruits into the jar. last 20 steps: 1- put apple into the jar 2- put apple into the jar 3- put orange into the jar 4- put apple into the jar 5- put orange into the jar Q: immediate next step? \u003cPRED\u003eA: put orange into the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange into the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place place the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: put orange into the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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":"18010813960379973480.mp4"}
+{"uid":"17631132018765565206","text":"\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: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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place place the fruits into the jar. last 20 steps: 1- put apple into the jar 2- put apple into the jar 3- put orange into the jar 4- put apple into the jar Q: immediate next step? \u003cPRED\u003eA: put the orange into the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place place the fruits into the jar 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: place place the fruits into the jar. last 20 steps: 1- put apple into the jar 2- put apple into the jar 3- put orange into the jar 4- put apple into the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange into the jar 2- put orange into the jar 3- done\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":"12978053369870716996.mp4"}
+{"uid":"5593929616717039571","text":"\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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place place the fruits into the jar. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the apple into the jar 2- put apple into the jar 3- put orange into the jar 4- put apple into the jar 5- put orange into the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place place the fruits into the jar. last 20 steps: none 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: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:planning:freeform\u003e\ncurrent goal is: place place the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: put the apple into the jar\n\u003c/PRED\u003e","video":"17353719078600847352.mp4"}
+{"uid":"12845853731495278551","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put apple into the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put apple into the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place place the fruits into the jar. last 20 steps: 1- put apple into the jar 2- put apple into the jar 3- put orange into the jar Q: immediate next step? \u003cPRED\u003eA: put apple into the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput 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:planning:freeform\u003e\ncurrent goal is: place place the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: put apple into the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place place the fruits into the jar. last 20 steps: 1- put apple into the jar 2- put apple into the jar 3- put orange into the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put apple into the jar 2- put orange into the jar 3- put orange into the jar 4- done\n\u003c/PRED\u003e","video":"13986770551844541608.mp4"}
+{"uid":"5137485194355460720","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nWipe out the water with the tissue Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6031699997267619437.mp4"}
+{"uid":"14524079544525600613","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":"2197176944212127472.mp4"}
+{"uid":"75210824460977147","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the apple into the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the apple into the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place place the fruits into the jar. last 20 steps: 1- put apple into the jar 2- put apple into the jar 3- put orange into the jar Q: immediate next step? \u003cPRED\u003eA: place the apple into the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace 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:planning:freeform\u003e\ncurrent goal is: place place the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: place the apple into the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place place the fruits into the jar. last 20 steps: 1- put apple into the jar 2- put apple into the jar 3- put orange into the jar Q: next 5 steps? \u003cPRED\u003eA: 1- place the apple into the jar 2- put orange into the jar 3- put orange into the jar 4- done\n\u003c/PRED\u003e","video":"17937972890108273438.mp4"}
+{"uid":"16860478164739068560","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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place place the fruits into the jar. last 20 steps: 1- put apple into the jar 2- put apple into the jar 3- put orange into the jar 4- put apple into the jar 5- put orange into the jar Q: immediate next step? \u003cPRED\u003eA: put the orange into the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place place the fruits into the jar 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: place place the fruits into the jar. last 20 steps: 1- put apple into the jar 2- put apple into the jar 3- put orange into the jar 4- put apple into the jar 5- put orange into the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange into the jar 2- done\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: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","video":"11545301926869712527.mp4"}
+{"uid":"1585765472483525813","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am done using stapler can you put it back and while coming back get me a popcorn snacks from Mk kitchen to my desk. last 20 steps: 1- pick up the stapler from the table 2- put stapler on the table 3- enter the room Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am done using stapler can you put it back and while coming back get me a popcorn snacks from Mk kitchen to my desk. last 20 steps: 1- pick up the stapler from the table 2- put stapler on the table 3- enter the room Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- put brown packet on the table 3- close the drawer 4- pick up the brown packet from the table 5- exit the room\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I am done using stapler can you put it back and while coming back get me a popcorn snacks from Mk kitchen to my desk 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: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","video":"8076516710015597951.mp4"}
+{"uid":"7300516059701165080","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am done using stapler can you put it back and while coming back get me a popcorn snacks from Mk kitchen to my desk. last 20 steps: 1- pick up the stapler from the table 2- put stapler on the table 3- enter the room 4- open the drawer 5- put brown packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- pick up the brown packet from the table 3- exit the room 4- put brown packet on the table 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am done using stapler can you put it back and while coming back get me a popcorn snacks from Mk kitchen to my desk. last 20 steps: 1- pick up the stapler from the table 2- put stapler on the table 3- enter the room 4- open the drawer 5- put brown packet on the table Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask: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: I am done using stapler can you put it back and while coming back get me a popcorn snacks from Mk kitchen to my desk 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":"1764093189598952382.mp4"}
+{"uid":"12296019375021558594","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nexit the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4002817245056835019.mp4"}
+{"uid":"10455687159412940066","text":"\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: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: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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place place the fruits into the jar. last 20 steps: 1- put apple into the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the apple into the jar 2- put apple into the jar 3- put orange into the jar 4- put orange into the jar 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place place the fruits into the jar. last 20 steps: 1- put apple into the jar Q: immediate next step? \u003cPRED\u003eA: put the apple into the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place place 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","video":"17327052603354295927.mp4"}
+{"uid":"15042637880195887023","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace yellow blue 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":"6807618070767716540.mp4"}
+{"uid":"5345947024661231919","text":"\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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place place the fruits into the jar. last 20 steps: 1- put apple into the jar 2- put apple 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\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place place the fruits into the jar. last 20 steps: 1- put apple into the jar 2- put apple into the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange into the jar 2- put apple into the jar 3- put orange into the jar 4- put orange into the jar 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the sugar packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place place the fruits 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\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","video":"7361553643604555207.mp4"}
+{"uid":"13265265122024694811","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":"3191384280658600451.mp4"}
+{"uid":"17589946617798021405","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":"3638988275603284393.mp4"}
+{"uid":"12462300746052787716","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put apple into the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place place the fruits into the jar. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put apple into the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place place the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: put apple into the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place place the fruits into the jar. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put apple into the jar 2- put apple into the jar 3- put orange into the jar 4- put apple into the jar 5- put orange into the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put apple into the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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 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","video":"2250895626976989522.mp4"}
+{"uid":"16465511944490512476","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place place the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: open the gripper\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place place the fruits into the jar. last 20 steps: 1- put apple into the jar 2- put apple into the jar 3- put orange into the jar 4- put apple into the jar Q: immediate next step? \u003cPRED\u003eA: open the gripper\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the gripper\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the gripper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the gripper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the gripper\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place place the fruits into the jar. last 20 steps: 1- put apple into the jar 2- put apple into the jar 3- put orange into the jar 4- put apple into the jar Q: next 5 steps? \u003cPRED\u003eA: 1- open the gripper 2- put orange into the jar 3- done\n\u003c/PRED\u003e","video":"10615611944859480225.mp4"}
+{"uid":"17202302113744512769","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick the green packet from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13031273437578321304.mp4"}
+{"uid":"1408060609719417942","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":"17801866264240944512.mp4"}
+{"uid":"4652283489570347616","text":"\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":"13106033839976714465.mp4"}
+{"uid":"10209277923501846126","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput white packet in the tray inside 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":"12598832884937581601.mp4"}
+{"uid":"6134628097637219524","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am done using stapler can you put it back and while coming back get me a popcorn snacks from Mk kitchen to my desk. last 20 steps: 1- pick up the stapler from the table Q: next 5 steps? \u003cPRED\u003eA: 1- put stapler on the table 2- enter the room 3- open the drawer 4- put brown packet on the table 5- close the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put stapler on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I am done using stapler can you put it back and while coming back get me a popcorn snacks from Mk kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: put stapler on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput stapler on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput stapler on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am done using stapler can you put it back and while coming back get me a popcorn snacks from Mk kitchen to my desk. last 20 steps: 1- pick up the stapler from the table Q: immediate next step? \u003cPRED\u003eA: put stapler on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put stapler on the table\n\u003c/PRED\u003e","video":"6924023474788377209.mp4"}
+{"uid":"4228854688380767998","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":"5925155042127103530.mp4"}
+{"uid":"7619669750255596152","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":"7787701132810189911.mp4"}
+{"uid":"10359193748264890201","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am done using stapler can you put it back and while coming back get me a popcorn snacks from Mk kitchen to my desk. last 20 steps: 1- pick up the stapler from the table 2- put stapler on the table Q: next 5 steps? \u003cPRED\u003eA: 1- enter the room 2- open the drawer 3- put brown packet on the table 4- close the drawer 5- pick up the brown packet from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nenter the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nenter the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I am done using stapler can you put it back and while coming back get me a popcorn snacks from Mk kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: enter the room\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: enter the room\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: enter the room\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am done using stapler can you put it back and while coming back get me a popcorn snacks from Mk kitchen to my desk. last 20 steps: 1- pick up the stapler from the table 2- put stapler on the table Q: immediate next step? \u003cPRED\u003eA: enter the room\n\u003c/PRED\u003e","video":"489069718888731766.mp4"}
+{"uid":"10436984219269273359","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the plastic cup vertically 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":"2691340384400564937.mp4"}
+{"uid":"9441123329644729473","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove a tray forward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13647171043162157319.mp4"}
+{"uid":"8332435552688014109","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am done using stapler can you put it back and while coming back get me a popcorn snacks from Mk kitchen to my desk. last 20 steps: 1- pick up the stapler from the table 2- put stapler on the table 3- enter the room 4- open the drawer Q: immediate next step? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I am done using stapler can you put it back and while coming back get me a popcorn snacks from Mk kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am done using stapler can you put it back and while coming back get me a popcorn snacks from Mk kitchen to my desk. last 20 steps: 1- pick up the stapler from the table 2- put stapler on the table 3- enter the room 4- open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put brown packet on the table 2- close the drawer 3- pick up the brown packet from the table 4- exit the room 5- put brown packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput brown packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput brown packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18413574525427378987.mp4"}
+{"uid":"3568267484708380904","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the brown packet from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am done using stapler can you put it back and while coming back get me a popcorn snacks from Mk kitchen to my desk. last 20 steps: 1- pick up the stapler from the table 2- put stapler on the table 3- enter the room 4- open the drawer 5- put brown packet on the table 6- close the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the brown packet from the table 2- exit the room 3- put brown packet on the table 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am done using stapler can you put it back and while coming back get me a popcorn snacks from Mk kitchen to my desk. last 20 steps: 1- pick up the stapler from the table 2- put stapler on the table 3- enter the room 4- open the drawer 5- put brown packet on the table 6- close the drawer Q: immediate next step? \u003cPRED\u003eA: pick up the brown packet from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I am done using stapler can you put it back and while coming back get me a popcorn snacks from Mk kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: pick up the brown packet from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the brown packet from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the brown packet from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the brown packet from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14673787451475020807.mp4"}
+{"uid":"1029941491244614848","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":"12231514502414638490.mp4"}
+{"uid":"15978604658949134400","text":"\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:planning:freeform\u003e\ncurrent goal is: place place the fruits 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: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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the apple into the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place place the fruits into the jar. last 20 steps: 1- put apple into the jar 2- put apple into the jar 3- put orange 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: place place the fruits into the jar. last 20 steps: 1- put apple into the jar 2- put apple into the jar 3- put orange into the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the apple into the jar 2- put orange into the jar 3- put orange into the jar 4- done\n\u003c/PRED\u003e","video":"6108528808898581629.mp4"}
+{"uid":"10577781994753325661","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place place the fruits into the jar. last 20 steps: 1- put apple into the jar 2- put apple into the jar 3- put orange into the jar 4- put apple into the jar 5- put orange into the jar 6- put orange into the jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput 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:planning:freeform\u003e\ncurrent goal is: place place the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place place the fruits into the jar. last 20 steps: 1- put apple into the jar 2- put apple into the jar 3- put orange into the jar 4- put apple into the jar 5- put orange into the jar 6- put orange into the jar Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put orange into the jar\n\u003c/PRED\u003e","video":"7379034818688424588.mp4"}
+{"uid":"16097905787396353368","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the 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":"12350081931468086734.mp4"}
+{"uid":"4047043505840106834","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove towards the chair Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12353136892865859096.mp4"}
+{"uid":"8595305113307869346","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I am done using stapler can you put it back and while coming back get me a popcorn snacks from Mk kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am done using stapler can you put it back and while coming back get me a popcorn snacks from Mk kitchen to my desk. last 20 steps: 1- pick up the stapler from the table 2- put stapler on the table 3- enter the room 4- open the drawer 5- put brown packet on the table 6- close the drawer 7- pick up the brown packet from the table Q: immediate next step? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am done using stapler can you put it back and while coming back get me a popcorn snacks from Mk kitchen to my desk. last 20 steps: 1- pick up the stapler from the table 2- put stapler on the table 3- enter the room 4- open the drawer 5- put brown packet on the table 6- close the drawer 7- pick up the brown packet from the table Q: next 5 steps? \u003cPRED\u003eA: 1- exit the room 2- put brown packet on the table 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nexit the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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","video":"928012756432447755.mp4"}
+{"uid":"5468980767783634963","text":"\u003ctask:success:discrete:True\u003e\nput stapler on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put stapler on the table\n\u003c/PRED\u003e","video":"6826446478284650720.mp4"}
+{"uid":"1536809467366889424","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3116092088261710368.mp4"}
+{"uid":"14399017530599814174","text":"\u003ctask:success:discrete:True\u003e\nput 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 apple into the jar\n\u003c/PRED\u003e","video":"17147442453343627321.mp4"}
+{"uid":"13226706967295375542","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place place the fruits into the jar. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the apple into the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the apple into the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace 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:planning:freeform\u003e\ncurrent goal is: place place the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: place the apple into the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the apple into the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place place the fruits into the jar. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the apple into the jar 2- put apple into the jar 3- put orange into the jar 4- put apple into the jar 5- put orange into the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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":"8274466715495086554.mp4"}
+{"uid":"2099660694957266778","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the blue pen in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9588491962097511132.mp4"}
+{"uid":"5758376562285678310","text":"\u003ctask:success:discrete:True\u003e\nput 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 orange into the jar\n\u003c/PRED\u003e","video":"6339078649012247267.mp4"}
+{"uid":"7932206096466216674","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5510123299728461614.mp4"}
+{"uid":"129029861739851588","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the orange into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12344101123509206989.mp4"}
+{"uid":"15992375462171018838","text":"\u003ctask:success:discrete:True\u003e\nput brown packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am done using stapler can you put it back and while coming back get me a popcorn snacks from Mk kitchen to my desk. last 20 steps: 1- pick up the stapler from the table 2- put stapler on the table 3- enter the room 4- open the drawer 5- put brown packet on the table 6- close the drawer 7- pick up the brown packet from the table 8- exit the room 9- put brown packet on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I am done using stapler can you put it back and while coming back get me a popcorn snacks from Mk kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am done using stapler can you put it back and while coming back get me a popcorn snacks from Mk kitchen to my desk. last 20 steps: 1- pick up the stapler from the table 2- put stapler on the table 3- enter the room 4- open the drawer 5- put brown packet on the table 6- close the drawer 7- pick up the brown packet from the table 8- exit the room 9- put brown packet 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: put brown packet on the table\n\u003c/PRED\u003e","video":"15862627754137631549.mp4"}
+{"uid":"2195946034067538475","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove blue pen 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":"14098685623387315619.mp4"}
+{"uid":"1096242503515517614","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put orange into the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput 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":"10287694492746962144.mp4"}
+{"uid":"15499724877817931811","text":"\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: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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place place the fruits into the jar. last 20 steps: 1- put apple into the jar 2- put apple into the jar 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: place place the fruits into the jar. last 20 steps: 1- put apple into the jar 2- put apple into the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange into the jar 2- put apple into the jar 3- put orange into the jar 4- put orange into the jar 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place place 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange into the jar\n\u003c/PRED\u003e","video":"10060643198809477047.mp4"}
+{"uid":"17607718646966511399","text":"\u003ctask:success:discrete:False\u003e\nput 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 apple into the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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:planning:freeform\u003e\ncurrent goal is: place place the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: put apple into the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place place the fruits into the jar. last 20 steps: 1- put apple into the jar Q: immediate next step? \u003cPRED\u003eA: put apple into the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place place the fruits into the jar. last 20 steps: 1- put apple into the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put apple into the jar 2- put orange into the jar 3- put apple into the jar 4- put orange into the jar 5- put orange into the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put apple into the jar\n\u003c/PRED\u003e","video":"321885787514920388.mp4"}
+{"uid":"9115734747135225230","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":"17963853344921237880.mp4"}
+{"uid":"14071411123222862023","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am done using stapler can you put it back and while coming back get me a popcorn snacks from Mk kitchen to my desk. last 20 steps: 1- pick up the stapler from the table 2- put stapler on the table 3- enter the room 4- open the drawer 5- put brown packet on the table 6- close the drawer 7- pick up the brown packet from the table 8- exit the room Q: next 5 steps? \u003cPRED\u003eA: 1- put brown packet on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput brown packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput brown packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I am done using stapler can you put it back and while coming back get me a popcorn snacks from Mk kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am done using stapler can you put it back and while coming back get me a popcorn snacks from Mk kitchen to my desk. last 20 steps: 1- pick up the stapler from the table 2- put stapler on the table 3- enter the room 4- open the drawer 5- put brown packet on the table 6- close the drawer 7- pick up the brown packet from the table 8- exit the room Q: immediate next step? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e","video":"17944198295608906125.mp4"}
+{"uid":"8254512600693091580","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":"15547424953807852657.mp4"}
+{"uid":"3488799164762439833","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange into the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place place the fruits into the jar. last 20 steps: 1- put apple into the jar 2- put apple into the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put orange into the jar 2- put apple into the jar 3- put orange into the jar 4- put orange into the jar 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput 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: place place the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: put orange into the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place place the fruits into the jar. last 20 steps: 1- put apple into the jar 2- put apple into the jar Q: immediate next step? \u003cPRED\u003eA: put orange into the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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 orange into the jar\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put apple into the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput 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":"2784426445679071574.mp4"}
+{"uid":"16841060350721268022","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place place the fruits into the jar. last 20 steps: 1- put apple into the jar 2- put apple into the jar 3- put orange into the jar 4- put apple into the jar 5- put orange into the jar 6- put the orange 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 orange into the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place place the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: done\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\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place place the fruits into the jar. last 20 steps: 1- put apple into the jar 2- put apple into the jar 3- put orange into the jar 4- put apple into the jar 5- put orange into the jar 6- put the orange into the jar Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"13191039767243438325.mp4"}
+{"uid":"3890603874392550946","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place place the fruits into the jar. last 20 steps: 1- put apple into the jar Q: immediate next step? \u003cPRED\u003eA: put the apple into the jar\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:planning:freeform\u003e\ncurrent goal is: place place the fruits into 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: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: place place the fruits into the jar. last 20 steps: 1- put apple into the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the apple into the jar 2- put orange into the jar 3- put apple into the jar 4- put orange into the jar 5- put 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 apple into the jar\n\u003c/PRED\u003e","video":"7109411086128515992.mp4"}
+{"uid":"9580338673517307091","text":"\u003ctask:success:discrete:False\u003e\nput 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange into the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange into the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place place the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: put orange into the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place place the fruits into the jar. last 20 steps: 1- put apple into the jar 2- put apple into the jar 3- put orange into the jar 4- put apple into the jar Q: immediate next step? \u003cPRED\u003eA: put orange into the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place place the fruits into the jar. last 20 steps: 1- put apple into the jar 2- put apple into the jar 3- put orange into the jar 4- put apple into the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put orange into the jar 2- put orange into the jar 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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":"7981895264354020354.mp4"}
+{"uid":"11643410850282923925","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the blue packet on the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15132037620108821978.mp4"}
+{"uid":"14920501267126935318","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the white glass 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":"6713810555606044256.mp4"}
+{"uid":"4251960398170198180","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":"8588589688099377897.mp4"}
+{"uid":"3709863471855763778","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":"7347175785060496470.mp4"}
+{"uid":"69654528219353598","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 fork in the holder 2- place  fork in the holder 3- pick up the fork 4- put that fork in the holder 5- pick up the fork 6- put that fork in the holder 7- pick up the white packet 8- place that packet in the tray 9- pick up the white packet 10- place that packet in the tray 11- place the chip bag in the bowl 12- pick up the orange packet 13- place that packet in the tray 14- pick up the orange packet 15- place that packet in the tray 16- place the chip bag in the bowl Q: immediate next step? \u003cPRED\u003eA: place the chip bag in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the chip bag in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the chip bag in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the chip bag 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: place the chip bag 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 fork in the holder 2- place  fork in the holder 3- pick up the fork 4- put that fork in the holder 5- pick up the fork 6- put that fork in the holder 7- pick up the white packet 8- place that packet in the tray 9- pick up the white packet 10- place that packet in the tray 11- place the chip bag in the bowl 12- pick up the orange packet 13- place that packet in the tray 14- pick up the orange packet 15- place that packet in the tray 16- place the chip bag in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the chip bag in the bowl 2- pick up the orange packet 3- place that packet in the tray 4- done\n\u003c/PRED\u003e","video":"18221678731043627920.mp4"}
+{"uid":"4837138635712458546","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the orange packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12487790235008740441.mp4"}
+{"uid":"1792828237275430251","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace black pen inside the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15425486608421510738.mp4"}
+{"uid":"7535784478993015225","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput apple in 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":"12145492392830827855.mp4"}
+{"uid":"18080331241878892274","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place 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 fork in the holder 2- place  fork in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place fork in the holder 2- pick up the fork 3- put that fork in the holder 4- pick up the white packet 5- place that packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place fork in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace 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:discriminative:discrete:True\u003e\nplace 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: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 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 fork in the holder 2- place  fork in the holder Q: immediate next step? \u003cPRED\u003eA: place fork in the holder\n\u003c/PRED\u003e","video":"7680634258553302482.mp4"}
+{"uid":"4291414835832547983","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the chocolate in the right 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":"15639260582411795790.mp4"}
+{"uid":"15870755143062974566","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 fork in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put that fork in the holder 2- pick up the fork 3- put that fork in the holder 4- pick up the fork 5- put that fork in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put that fork in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put that 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 that fork in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput that 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:discriminative:discrete:True\u003e\nput that 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: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- place fork in the holder Q: immediate next step? \u003cPRED\u003eA: put that fork in the holder\n\u003c/PRED\u003e","video":"18011933247816420096.mp4"}
+{"uid":"10105119661518047138","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the chip bag in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the chip bag 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":"7597020705065405474.mp4"}
+{"uid":"6520571654582215951","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput wire 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":"8971790594125103928.mp4"}
+{"uid":"11683521794010888900","text":"\u003ctask:success:discrete:False\u003e\nplace that 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: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- place fork in the holder 2- place  fork in the holder 3- pick up the fork 4- put that fork in the holder 5- pick up the fork 6- put that fork in the holder 7- pick up the white packet 8- place that packet in the tray 9- pick up the white packet 10- place that packet in the tray 11- place the chip bag in the bowl 12- pick up the orange packet 13- place that packet in the tray 14- pick up the orange packet 15- place that packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place that packet in the tray 2- pick up the black packet 3- place that packet in the tray 4- pick up the orange packet 5- place that packet in the tray\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 fork in the holder 2- place  fork in the holder 3- pick up the fork 4- put that fork in the holder 5- pick up the fork 6- put that fork in the holder 7- pick up the white packet 8- place that packet in the tray 9- pick up the white packet 10- place that packet in the tray 11- place the chip bag in the bowl 12- pick up the orange packet 13- place that packet in the tray 14- pick up the orange packet 15- place that packet in the tray Q: immediate next step? \u003cPRED\u003eA: place that packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace that packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place that packet in the tray\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 that packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place that packet in the tray\n\u003c/PRED\u003e","video":"16146734972654082136.mp4"}
+{"uid":"5084037619021299576","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace a 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":"8697055720292109411.mp4"}
+{"uid":"31164177569429761","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace orange in empty bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1667898227000594447.mp4"}
+{"uid":"10286972081183209859","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 fork in the holder 2- place  fork in the holder 3- pick up the fork 4- put that fork in the holder 5- pick up the fork 6- put that fork in the holder 7- pick up the white packet 8- place that packet in the tray 9- pick up the white packet 10- place that packet in the tray 11- place the chip bag in the bowl 12- pick up the orange packet 13- place that packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the orange packet 2- place that packet in the tray 3- place the chip bag in the bowl 4- pick up the black packet 5- place that packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the orange packet\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: pick up the orange packet\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the orange packet\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 fork in the holder 2- place  fork in the holder 3- pick up the fork 4- put that fork in the holder 5- pick up the fork 6- put that fork in the holder 7- pick up the white packet 8- place that packet in the tray 9- pick up the white packet 10- place that packet in the tray 11- place the chip bag in the bowl 12- pick up the orange packet 13- place that packet in the tray Q: immediate next step? \u003cPRED\u003eA: pick up the orange packet\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the orange packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1725004906004423225.mp4"}
+{"uid":"466002226252061948","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet in the plastic 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":"9810376619846245731.mp4"}
+{"uid":"16227832315247740417","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose the over door a bit Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3982872131114266690.mp4"}
+{"uid":"6361005786086586968","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 fork in the holder 2- place  fork in the holder 3- pick up the fork 4- put that fork in the holder 5- pick up the fork 6- put that fork in the holder 7- pick up the white packet 8- place that packet in the tray 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: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- place fork in the holder 2- place  fork in the holder 3- pick up the fork 4- put that fork in the holder 5- pick up the fork 6- put that fork in the holder 7- pick up the white packet 8- place that packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packet in the bowl 2- place the chip bag in the bowl 3- pick up the orange packet 4- place that packet in the tray 5- pick up the orange packet\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 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\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: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","video":"8095614848710775758.mp4"}
+{"uid":"5743082898656315129","text":"\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: 1- place fork in the holder 2- place  fork in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the plastic fork in the holder 2- pick up the fork 3- put that fork in the holder 4- pick up the white packet 5- place that packet in the tray\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: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 fork in the holder 2- place  fork in the holder Q: immediate next step? \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: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":"11305516734557919202.mp4"}
+{"uid":"13371729922923925678","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the 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":"2954380964011354699.mp4"}
+{"uid":"14702952184994249073","text":"\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: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: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 fork in the holder 2- place  fork in the holder 3- pick up the fork 4- put that fork in the holder 5- pick up the fork 6- put that fork in the holder 7- pick up the white packet 8- place that packet in the tray 9- pick up the white packet 10- place that packet in the tray 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: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 fork in the holder 2- place  fork in the holder 3- pick up the fork 4- put that fork in the holder 5- pick up the fork 6- put that fork in the holder 7- pick up the white packet 8- place that packet in the tray 9- pick up the white packet 10- place that packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the  packet in the bowl 2- pick up the orange packet 3- place that packet in the tray 4- pick up the orange packet 5- place that packet in the tray\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":"7583096394487219357.mp4"}
+{"uid":"14688060593617103396","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput cleaning wipes box 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":"12495200110758592581.mp4"}
+{"uid":"12903544991804567717","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nAdjust 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":"6864943644768373373.mp4"}
+{"uid":"11874888811172607593","text":"\u003ctask:success:discrete:True\u003e\nplace the chip bag in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the chip bag in the bowl\n\u003c/PRED\u003e","video":"8417696258039575588.mp4"}
+{"uid":"10684461150657707740","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the black packet\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 fork in the holder 2- place  fork in the holder 3- pick up the fork 4- put that fork in the holder 5- pick up the fork 6- put that fork in the holder 7- pick up the white packet 8- place that packet in the tray 9- pick up the white packet 10- place that packet in the tray 11- place the chip bag in the bowl 12- pick up the orange packet 13- place that packet in the tray 14- pick up the orange packet 15- place that packet in the tray 16- place the chip bag in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the black packet 2- place that packet in the tray 3- pick up the orange packet 4- place that packet in the tray 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 fork in the holder 2- place  fork in the holder 3- pick up the fork 4- put that fork in the holder 5- pick up the fork 6- put that fork in the holder 7- pick up the white packet 8- place that packet in the tray 9- pick up the white packet 10- place that packet in the tray 11- place the chip bag in the bowl 12- pick up the orange packet 13- place that packet in the tray 14- pick up the orange packet 15- place that packet in the tray 16- place the chip bag in the bowl Q: immediate next step? \u003cPRED\u003eA: pick up the black packet\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: pick up the black packet\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the black packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the black packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the black packet\n\u003c/PRED\u003e","video":"9207536520925310688.mp4"}
+{"uid":"16687823480802850160","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place  fork in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace  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":"1420863365917182716.mp4"}
+{"uid":"1636254617536879502","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the chip bag in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the chip bag 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":"16623487863667071912.mp4"}
+{"uid":"9321916705093339824","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place fork in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace 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":"6100104262283992079.mp4"}
+{"uid":"12941687377272137792","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"16991955608772552628.mp4"}
+{"uid":"799808966671433705","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: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the fork 2- place  fork in the holder 3- pick up the fork 4- put that fork in the holder 5- pick up the fork\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: pick up the fork\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: pick up the fork\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the fork\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the fork Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the fork Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the fork\n\u003c/PRED\u003e","video":"1568746673348443416.mp4"}
+{"uid":"4090897335303799209","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the wipes packets to the corner 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":"7544055662132157406.mp4"}
+{"uid":"17529963493362310950","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":"1100862664688590116.mp4"}
+{"uid":"13409990632420247286","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: place 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- place fork in the holder 2- place  fork in the holder 3- pick up the fork 4- put that fork in the holder 5- pick up the fork\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place fork in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace 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: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 fork in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place fork in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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":"7190495738813868085.mp4"}
+{"uid":"1004378056377514123","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the chip bag 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 fork in the holder 2- place  fork in the holder 3- pick up the fork 4- put that fork in the holder 5- pick up the fork 6- put that fork in the holder 7- pick up the white packet 8- place that packet in the tray 9- pick up the white packet 10- place that packet in the tray 11- place the chip bag in the bowl 12- pick up the orange packet 13- place that packet in the tray 14- pick up the orange packet 15- place that packet in the tray 16- place the chip bag in the bowl 17- pick up the black packet 18- place that packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the chip bag in the bowl 2- 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 chip bag in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the chip bag in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the chip bag 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 fork in the holder 2- place  fork in the holder 3- pick up the fork 4- put that fork in the holder 5- pick up the fork 6- put that fork in the holder 7- pick up the white packet 8- place that packet in the tray 9- pick up the white packet 10- place that packet in the tray 11- place the chip bag in the bowl 12- pick up the orange packet 13- place that packet in the tray 14- pick up the orange packet 15- place that packet in the tray 16- place the chip bag in the bowl 17- pick up the black packet 18- place that packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the chip bag in the bowl\n\u003c/PRED\u003e","video":"18225580746165670603.mp4"}
+{"uid":"2755738485927828812","text":"\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: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 fork in the holder 2- place  fork in the holder 3- pick up the fork 4- put that fork in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the plastic fork in the holder 2- pick up the white packet 3- place that packet in the tray 4- pick up the white packet 5- place that packet in the tray\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: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 fork in the holder 2- place  fork in the holder 3- pick up the fork 4- put that fork in 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: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":"10326990090934553755.mp4"}
+{"uid":"6633746936718765157","text":"\u003ctask:success:discrete:True\u003e\nplace the chip bag in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the chip bag in the bowl\n\u003c/PRED\u003e","video":"18054213450896594630.mp4"}
+{"uid":"15750422591716248569","text":"\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: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: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: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: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the plastic fork in the holder 2- place  fork in the holder 3- pick up the fork 4- put that fork in the holder 5- pick up the fork\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","video":"18290661132976300900.mp4"}
+{"uid":"18203343750508122182","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the nacho packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3126510620572905226.mp4"}
+{"uid":"1290041481968307984","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":"13471267801468604827.mp4"}
+{"uid":"1197383105348823047","text":"\u003ctask:success:discrete:True\u003e\nplace  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\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place  fork in the holder\n\u003c/PRED\u003e","video":"4333730546162671477.mp4"}
+{"uid":"14062882639030980772","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the chip bag in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the chip bag 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":"8227412705205198467.mp4"}
+{"uid":"5187636043139357287","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the fork\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the fork Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4317306052195457058.mp4"}
+{"uid":"4609374897774597027","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrag plastic bowl in center of the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11394557742254991500.mp4"}
+{"uid":"5447935256124774713","text":"\u003ctask:success:discrete:False\u003e\npick up the orange packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\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: pick up the orange packet\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the orange packet\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the orange packet\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 fork in the holder 2- place  fork in the holder 3- pick up the fork 4- put that fork in the holder 5- pick up the fork 6- put that fork in the holder 7- pick up the white packet 8- place that packet in the tray 9- pick up the white packet 10- place that packet in the tray 11- place the chip bag in the bowl 12- pick up the orange packet 13- place that packet in the tray 14- pick up the orange packet 15- place that packet in the tray 16- place the chip bag in the bowl 17- pick up the black packet 18- place that packet in the tray Q: immediate next step? \u003cPRED\u003eA: pick up the orange packet\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 fork in the holder 2- place  fork in the holder 3- pick up the fork 4- put that fork in the holder 5- pick up the fork 6- put that fork in the holder 7- pick up the white packet 8- place that packet in the tray 9- pick up the white packet 10- place that packet in the tray 11- place the chip bag in the bowl 12- pick up the orange packet 13- place that packet in the tray 14- pick up the orange packet 15- place that packet in the tray 16- place the chip bag in the bowl 17- pick up the black packet 18- place that packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the orange packet 2- place that packet in the tray 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the orange packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12415971975735102842.mp4"}
+{"uid":"11872370208195673262","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: place the chip bag in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the chip bag 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 fork in the holder 2- place  fork in the holder 3- pick up the fork 4- put that fork in the holder 5- pick up the fork 6- put that fork in the holder 7- pick up the white packet 8- place that packet in the tray 9- pick up the white packet 10- place that packet in the tray 11- place the chip bag in the bowl 12- pick up the orange packet 13- place that packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the chip bag in the bowl 2- place the chip bag in the bowl 3- pick up the black packet 4- place that packet in the tray 5- pick up the orange packet\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the chip bag in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the chip bag 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 fork in the holder 2- place  fork in the holder 3- pick up the fork 4- put that fork in the holder 5- pick up the fork 6- put that fork in the holder 7- pick up the white packet 8- place that packet in the tray 9- pick up the white packet 10- place that packet in the tray 11- place the chip bag in the bowl 12- pick up the orange packet 13- place that packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the chip bag in the bowl\n\u003c/PRED\u003e","video":"17161093150330427829.mp4"}
+{"uid":"5951768788246275918","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue pens in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18158457585206395008.mp4"}
+{"uid":"13888821545841560261","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pouch 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":"18030386592296766352.mp4"}
+{"uid":"1040288151974506206","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place that packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace that packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place that packet in the tray\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 fork in the holder 2- place  fork in the holder 3- pick up the fork 4- put that fork in the holder 5- pick up the fork 6- put that fork in the holder 7- pick up the white packet 8- place that packet in the tray 9- pick up the white packet Q: immediate next step? \u003cPRED\u003eA: place that packet in the tray\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 fork in the holder 2- place  fork in the holder 3- pick up the fork 4- put that fork in the holder 5- pick up the fork 6- put that fork in the holder 7- pick up the white packet 8- place that packet in the tray 9- pick up the white packet Q: next 5 steps? \u003cPRED\u003eA: 1- place that packet in the tray 2- place the chip bag in the bowl 3- pick up the orange packet 4- place that packet in the tray 5- pick up the orange packet\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 that packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace that packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7508393990560492960.mp4"}
+{"uid":"916673535787852049","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":"12283519742781567606.mp4"}
+{"uid":"8148864055630091764","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the chip bag in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the chip bag 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: place the chip bag in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the chip bag 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 fork in the holder 2- place  fork in the holder 3- pick up the fork 4- put that fork in the holder 5- pick up the fork 6- put that fork in the holder 7- pick up the white packet 8- place that packet in the tray 9- pick up the white packet 10- place that packet in the tray 11- place the chip bag in the bowl Q: immediate next step? \u003cPRED\u003eA: place the chip bag 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 fork in the holder 2- place  fork in the holder 3- pick up the fork 4- put that fork in the holder 5- pick up the fork 6- put that fork in the holder 7- pick up the white packet 8- place that packet in the tray 9- pick up the white packet 10- place that packet in the tray 11- place the chip bag in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the chip bag in the bowl 2- pick up the orange packet 3- place that packet in the tray 4- place the chip bag in the bowl 5- pick up the black packet\n\u003c/PRED\u003e","video":"16387283249505741913.mp4"}
+{"uid":"9869389503697101205","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: leave that packet in the tray\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 fork in the holder 2- place  fork in the holder 3- pick up the fork 4- put that fork in the holder 5- pick up the fork 6- put that fork in the holder 7- pick up the white packet 8- place that packet in the tray 9- pick up the white packet 10- place that packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- leave that packet in the tray 2- pick up the orange packet 3- place that packet in the tray 4- pick up the orange packet 5- place that packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nleave that 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: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- place fork in the holder 2- place  fork in the holder 3- pick up the fork 4- put that fork in the holder 5- pick up the fork 6- put that fork in the holder 7- pick up the white packet 8- place that packet in the tray 9- pick up the white packet 10- place that packet in the tray Q: immediate next step? \u003cPRED\u003eA: leave that packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: leave that packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nleave that packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: leave that packet in the tray\n\u003c/PRED\u003e","video":"12675635178288844660.mp4"}
+{"uid":"15468436693633128229","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the plates Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9198721448299847339.mp4"}
+{"uid":"14611860203389439457","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 fork in the holder 2- place  fork in the holder 3- pick up the fork 4- put that fork in the holder 5- pick up the fork 6- put that fork in the holder 7- pick up the white packet 8- place that packet in the tray 9- pick up the white packet 10- place that packet in the tray 11- place the chip bag in the bowl 12- pick up the orange packet 13- place that packet in the tray 14- pick up the orange packet 15- place that packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the  packet in the bowl 2- pick up the black packet 3- place that packet in the tray 4- pick up the orange packet 5- place that 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 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 fork in the holder 2- place  fork in the holder 3- pick up the fork 4- put that fork in the holder 5- pick up the fork 6- put that fork in the holder 7- pick up the white packet 8- place that packet in the tray 9- pick up the white packet 10- place that packet in the tray 11- place the chip bag in the bowl 12- pick up the orange packet 13- place that packet in the tray 14- pick up the orange packet 15- place that packet in the tray Q: immediate next step? \u003cPRED\u003eA: put the  packet in the bowl\n\u003c/PRED\u003e","video":"13502567104475783335.mp4"}
+{"uid":"5601688621131928844","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose 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":"14466263487039614321.mp4"}
+{"uid":"12534074499247805286","text":"\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\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 white 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 fork in the holder 2- place  fork in the holder 3- pick up the fork 4- put that fork in the holder 5- pick up the fork 6- put that fork in the holder 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: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: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 fork in the holder 2- place  fork in the holder 3- pick up the fork 4- put that fork in the holder 5- pick up the fork 6- put that fork in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packet in the bowl 2- pick up the white packet 3- place that packet in the tray 4- place the chip bag in the bowl 5- pick up the orange packet\n\u003c/PRED\u003e\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","video":"10195514890116469307.mp4"}
+{"uid":"7389228016878025704","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":"5492624627907989569.mp4"}
+{"uid":"10832147821089433515","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 fork in the holder 2- place  fork in the holder 3- pick up the fork 4- put that fork in the holder 5- pick up the fork 6- put that fork in the holder 7- pick up the white packet 8- place that packet in the tray 9- pick up the white packet 10- place that packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the chip bag in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the chip bag in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the chip bag 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 fork in the holder 2- place  fork in the holder 3- pick up the fork 4- put that fork in the holder 5- pick up the fork 6- put that fork in the holder 7- pick up the white packet 8- place that packet in the tray 9- pick up the white packet 10- place that packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the chip bag in the bowl 2- pick up the orange packet 3- place that packet in the tray 4- pick up the orange packet 5- place that packet in the tray\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 chip bag in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the chip bag in the bowl\n\u003c/PRED\u003e","video":"1859056012366524227.mp4"}
+{"uid":"7422604668537547216","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pink glass 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":"17437665536059105516.mp4"}
+{"uid":"17876129403275256617","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 fork in the holder 2- place  fork in the holder 3- pick up the fork 4- put that fork in the holder 5- pick up the fork 6- put that fork in the holder 7- pick up the white packet 8- place that packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the chip bag in the bowl 2- place the chip bag in the bowl 3- pick up the orange packet 4- place that packet in the tray 5- pick up the orange packet\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the chip bag in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the chip bag 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: place the chip bag 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 fork in the holder 2- place  fork in the holder 3- pick up the fork 4- put that fork in the holder 5- pick up the fork 6- put that fork in the holder 7- pick up the white packet 8- place that packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the chip bag in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the chip bag in the bowl\n\u003c/PRED\u003e","video":"18216932207529261423.mp4"}
+{"uid":"11958304242392437933","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"11720685981372644262.mp4"}
+{"uid":"1893377997151383936","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: none Q: next 5 steps? \u003cPRED\u003eA: 1- put that fork in the holder 2- pick up the fork 3- put that fork in the holder 4- pick up the fork 5- put that 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 that fork in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put that fork in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput that 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: 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 that fork in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put that fork in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput that 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":"6157220865711836163.mp4"}
+{"uid":"8429127508695465500","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place that packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace that 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: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- place fork in the holder 2- place  fork in the holder 3- pick up the fork 4- put that fork in the holder 5- pick up the fork 6- put that fork in the holder 7- pick up the white packet 8- place that packet in the tray 9- pick up the white packet 10- place that packet in the tray 11- place the chip bag in the bowl 12- pick up the orange packet 13- place that packet in the tray 14- pick up the orange packet 15- place that packet in the tray 16- place the chip bag in the bowl 17- pick up the black packet Q: immediate next step? \u003cPRED\u003eA: place that packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace that packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place that packet in the tray\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 that packet in the tray\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 fork in the holder 2- place  fork in the holder 3- pick up the fork 4- put that fork in the holder 5- pick up the fork 6- put that fork in the holder 7- pick up the white packet 8- place that packet in the tray 9- pick up the white packet 10- place that packet in the tray 11- place the chip bag in the bowl 12- pick up the orange packet 13- place that packet in the tray 14- pick up the orange packet 15- place that packet in the tray 16- place the chip bag in the bowl 17- pick up the black packet Q: next 5 steps? \u003cPRED\u003eA: 1- place that packet in the tray 2- pick up the orange packet 3- place that packet in the tray 4- done\n\u003c/PRED\u003e","video":"7662029178985367012.mp4"}
+{"uid":"17530666769070587297","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place  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: place  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 fork in the holder 2- place  fork in the holder 3- pick up the fork 4- put that fork in the holder Q: immediate next step? \u003cPRED\u003eA: place  fork in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place  fork in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace  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\nplace  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 fork in the holder 2- place  fork in the holder 3- pick up the fork 4- put that fork in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place  fork in the holder 2- pick up the white packet 3- place that packet in the tray 4- pick up the white packet 5- place that packet in the tray\n\u003c/PRED\u003e","video":"5428076037096236026.mp4"}
+{"uid":"17313158880489621366","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 fork in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the plastic fork in the holder 2- pick up the fork 3- put that fork in the holder 4- pick up the fork 5- put that 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: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\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 fork in the holder Q: immediate next step? \u003cPRED\u003eA: put the plastic fork in the holder\n\u003c/PRED\u003e","video":"7179137568549175820.mp4"}
+{"uid":"10958710528619343978","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: pick up the fork\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 fork in the holder Q: immediate next step? \u003cPRED\u003eA: pick up the fork\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the fork\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the fork Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- place fork in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the fork 2- pick up the fork 3- put that fork in the holder 4- pick up the fork 5- put that fork in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the fork\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the fork Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17482236779367026069.mp4"}
+{"uid":"14598384904347037807","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: place the chip bag 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 fork in the holder 2- place  fork in the holder 3- pick up the fork 4- put that fork in the holder 5- pick up the fork 6- put that fork in the holder 7- pick up the white packet 8- place that packet in the tray 9- pick up the white packet 10- place that packet in the tray 11- place the chip bag in the bowl 12- pick up the orange packet 13- place that packet in the tray 14- pick up the orange packet Q: next 5 steps? \u003cPRED\u003eA: 1- place the chip bag in the bowl 2- pick up the black packet 3- place that packet in the tray 4- pick up the orange packet 5- place that packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the chip bag in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the chip bag in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the chip bag in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- place fork in the holder 2- place  fork in the holder 3- pick up the fork 4- put that fork in the holder 5- pick up the fork 6- put that fork in the holder 7- pick up the white packet 8- place that packet in the tray 9- pick up the white packet 10- place that packet in the tray 11- place the chip bag in the bowl 12- pick up the orange packet 13- place that packet in the tray 14- pick up the orange packet Q: immediate next step? \u003cPRED\u003eA: place the chip bag in the bowl\n\u003c/PRED\u003e","video":"752741354977667758.mp4"}
+{"uid":"4961300908291856678","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 fork in the holder 2- place  fork in the holder 3- pick up the fork 4- put that fork in the holder 5- pick up the fork 6- put that fork in the holder 7- pick up the white packet 8- place that packet in the tray 9- pick up the white packet 10- place that packet in the tray 11- place the chip bag in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the orange packet 2- place that packet in the tray 3- pick up the orange packet 4- place that packet in the tray 5- place the chip bag in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the orange packet\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the orange packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\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 fork in the holder 2- place  fork in the holder 3- pick up the fork 4- put that fork in the holder 5- pick up the fork 6- put that fork in the holder 7- pick up the white packet 8- place that packet in the tray 9- pick up the white packet 10- place that packet in the tray 11- place the chip bag in the bowl Q: immediate next step? \u003cPRED\u003eA: pick up the orange packet\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the orange packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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: pick up the orange packet\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the orange packet\n\u003c/PRED\u003e","video":"4973040059423496914.mp4"}
+{"uid":"5405522609823714422","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 fork in the holder 2- place  fork in the holder 3- pick up the fork 4- put that fork in the holder 5- pick up the fork 6- put that fork in the holder 7- pick up the white packet 8- place that packet in the tray 9- pick up the white packet 10- place that packet in the tray 11- place the chip bag in the bowl 12- pick up the orange packet 13- place that packet in the tray 14- pick up the orange packet 15- place that packet in the tray 16- place the chip bag in the bowl 17- pick up the black packet 18- place that packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the  packet in the bowl 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the  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: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: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: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: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 fork in the holder 2- place  fork in the holder 3- pick up the fork 4- put that fork in the holder 5- pick up the fork 6- put that fork in the holder 7- pick up the white packet 8- place that packet in the tray 9- pick up the white packet 10- place that packet in the tray 11- place the chip bag in the bowl 12- pick up the orange packet 13- place that packet in the tray 14- pick up the orange packet 15- place that packet in the tray 16- place the chip bag in the bowl 17- pick up the black packet 18- place that packet in the tray Q: immediate next step? \u003cPRED\u003eA: put the  packet in the bowl\n\u003c/PRED\u003e","video":"9583924641442676802.mp4"}
+{"uid":"13025046838168182778","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 fork in the holder 2- place  fork in the holder 3- pick up the fork Q: immediate next step? \u003cPRED\u003eA: put that fork in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput that 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 that 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 fork in the holder 2- place  fork in the holder 3- pick up the fork Q: next 5 steps? \u003cPRED\u003eA: 1- put that fork in the holder 2- pick up the fork 3- put that fork in the holder 4- pick up the white packet 5- place that packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put that 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 that fork in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput that 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":"9534772996809624949.mp4"}
+{"uid":"12994833323447803174","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the popcorn 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":"582429072933646169.mp4"}
+{"uid":"16164772772619202136","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":"16663292034945057094.mp4"}
+{"uid":"13179965881636118248","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 fork in the holder 2- place  fork in the holder 3- pick up the fork 4- put that fork in the holder 5- pick up the fork Q: immediate next step? \u003cPRED\u003eA: put that fork in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput that 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: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- place fork in the holder 2- place  fork in the holder 3- pick up the fork 4- put that fork in the holder 5- pick up the fork Q: next 5 steps? \u003cPRED\u003eA: 1- put that fork in the holder 2- pick up the white packet 3- place that packet in the tray 4- pick up the white packet 5- place that packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put that fork in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put that fork in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput that 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: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 that fork in the holder\n\u003c/PRED\u003e","video":"9607599431810077614.mp4"}
+{"uid":"3989830077028720547","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place that packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace that packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace that packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: place that packet in the tray\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 fork in the holder 2- place  fork in the holder 3- pick up the fork 4- put that fork in the holder 5- pick up the fork 6- put that fork in the holder 7- pick up the white packet 8- place that packet in the tray 9- pick up the white packet 10- place that packet in the tray 11- place the chip bag in the bowl 12- pick up the orange packet 13- place that packet in the tray 14- pick up the orange packet Q: immediate next step? \u003cPRED\u003eA: place that packet in the tray\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 fork in the holder 2- place  fork in the holder 3- pick up the fork 4- put that fork in the holder 5- pick up the fork 6- put that fork in the holder 7- pick up the white packet 8- place that packet in the tray 9- pick up the white packet 10- place that packet in the tray 11- place the chip bag in the bowl 12- pick up the orange packet 13- place that packet in the tray 14- pick up the orange packet Q: next 5 steps? \u003cPRED\u003eA: 1- place that packet in the tray 2- pick up the black packet 3- place that packet in the tray 4- pick up the orange packet 5- place that packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place that packet in the tray\n\u003c/PRED\u003e","video":"4559040334027336966.mp4"}
+{"uid":"14737827535058860047","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the orange 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":"13489329925149443867.mp4"}
+{"uid":"11038636447998380887","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7427546225755171173.mp4"}
+{"uid":"14278346719175983772","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop 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":"7604864225919151490.mp4"}
+{"uid":"11976910073576779799","text":"\u003ctask:success:discrete:False\u003e\nplace that packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: place that packet in the tray\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 fork in the holder 2- place  fork in the holder 3- pick up the fork 4- put that fork in the holder 5- pick up the fork 6- put that fork in the holder 7- pick up the white packet Q: immediate next step? \u003cPRED\u003eA: place that packet in the tray\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 fork in the holder 2- place  fork in the holder 3- pick up the fork 4- put that fork in the holder 5- pick up the fork 6- put that fork in the holder 7- pick up the white packet Q: next 5 steps? \u003cPRED\u003eA: 1- place that packet in the tray 2- pick up the white packet 3- place that packet in the tray 4- place the chip bag in the bowl 5- pick up the orange packet\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place that packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace that packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place that packet in the tray\n\u003c/PRED\u003e","video":"712984855749712115.mp4"}
+{"uid":"9849830904040460073","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the fork Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the fork Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- place fork in the holder 2- place  fork in the holder 3- pick up the fork 4- put that fork in the holder Q: immediate next step? \u003cPRED\u003eA: pick up the fork\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: pick up the fork\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the fork\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the fork\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 fork in the holder 2- place  fork in the holder 3- pick up the fork 4- put that fork in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the fork 2- put that fork in the holder 3- pick up the white packet 4- place that packet in the tray 5- pick up the white packet\n\u003c/PRED\u003e","video":"13248463917299406226.mp4"}
+{"uid":"7109272062372227255","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 fork in the holder 2- place  fork in the holder 3- pick up the fork 4- put that fork in the holder 5- pick up the fork 6- put that fork in the holder 7- pick up the white packet 8- place that packet in the tray 9- pick up the white packet 10- place that packet in the tray 11- place the chip bag in the bowl 12- pick up the orange packet 13- place that packet in the tray 14- pick up the orange packet 15- place that packet in the tray 16- place the chip bag in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the  packet in the bowl 2- pick up the orange packet 3- place that packet in the tray 4- 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: 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: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 fork in the holder 2- place  fork in the holder 3- pick up the fork 4- put that fork in the holder 5- pick up the fork 6- put that fork in the holder 7- pick up the white packet 8- place that packet in the tray 9- pick up the white packet 10- place that packet in the tray 11- place the chip bag in the bowl 12- pick up the orange packet 13- place that packet in the tray 14- pick up the orange packet 15- place that packet in the tray 16- place the chip bag in 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","video":"2049229579433505512.mp4"}
+{"uid":"7670773188937762168","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place that packet in the tray\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 fork in the holder 2- place  fork in the holder 3- pick up the fork 4- put that fork in the holder 5- pick up the fork 6- put that fork in the holder 7- pick up the white packet 8- place that packet in the tray 9- pick up the white packet 10- place that packet in the tray 11- place the chip bag in the bowl 12- pick up the orange packet 13- place that packet in the tray 14- pick up the orange packet 15- place that packet in the tray 16- place the chip bag in the bowl 17- pick up the black packet 18- place that packet in the tray 19- pick up the orange packet Q: next 5 steps? \u003cPRED\u003eA: 1- place that packet in the tray 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 fork in the holder 2- place  fork in the holder 3- pick up the fork 4- put that fork in the holder 5- pick up the fork 6- put that fork in the holder 7- pick up the white packet 8- place that packet in the tray 9- pick up the white packet 10- place that packet in the tray 11- place the chip bag in the bowl 12- pick up the orange packet 13- place that packet in the tray 14- pick up the orange packet 15- place that packet in the tray 16- place the chip bag in the bowl 17- pick up the black packet 18- place that packet in the tray 19- pick up the orange packet Q: immediate next step? \u003cPRED\u003eA: place that packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace that packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace that packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place that packet in the tray\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 that packet in the tray\n\u003c/PRED\u003e","video":"14533507149920338503.mp4"}
+{"uid":"16334495069265001523","text":"\u003ctask:success:discrete:True\u003e\nplace the chip bag in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the chip bag 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: done\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 fork in the holder 2- place  fork in the holder 3- pick up the fork 4- put that fork in the holder 5- pick up the fork 6- put that fork in the holder 7- pick up the white packet 8- place that packet in the tray 9- pick up the white packet 10- place that packet in the tray 11- place the chip bag in the bowl 12- pick up the orange packet 13- place that packet in the tray 14- pick up the orange packet 15- place that packet in the tray 16- place the chip bag in the bowl 17- pick up the black packet 18- place that packet in the tray 19- place the chip bag 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: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- place fork in the holder 2- place  fork in the holder 3- pick up the fork 4- put that fork in the holder 5- pick up the fork 6- put that fork in the holder 7- pick up the white packet 8- place that packet in the tray 9- pick up the white packet 10- place that packet in the tray 11- place the chip bag in the bowl 12- pick up the orange packet 13- place that packet in the tray 14- pick up the orange packet 15- place that packet in the tray 16- place the chip bag in the bowl 17- pick up the black packet 18- place that packet in the tray 19- place the chip bag in the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"16043847797471687633.mp4"}
+{"uid":"2659856703498420988","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove away from 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":"2594488576223271095.mp4"}
+{"uid":"10926077243454903955","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\narrange 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":"2819690625397239227.mp4"}
+{"uid":"7040600036257672973","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place fork in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace 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":"2842898324099394005.mp4"}
+{"uid":"9017593817155965434","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange in the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13252060066561478118.mp4"}
+{"uid":"4734166873993494686","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop baby pink duck into bucket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13971530572186103961.mp4"}
+{"uid":"13326883607218120063","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":"13516456033846395539.mp4"}
+{"uid":"18273650069563351647","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pen in the rectangular tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3634806470187212670.mp4"}
+{"uid":"6427429186044357285","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the strainer 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":"1991513587902585106.mp4"}
+{"uid":"12116159833356811279","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 fork in the holder 2- place  fork in the holder 3- pick up the fork 4- put that fork in the holder 5- pick up the fork 6- put that fork in the holder Q: immediate next step? \u003cPRED\u003eA: place the chip bag in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the chip bag in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the chip bag in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the chip bag in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the chip bag 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: place the chip bag 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 fork in the holder 2- place  fork in the holder 3- pick up the fork 4- put that fork in the holder 5- pick up the fork 6- put that fork in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the chip bag in the bowl 2- pick up the white packet 3- place that packet in the tray 4- place the chip bag in the bowl 5- pick up the orange packet\n\u003c/PRED\u003e","video":"3984995311026907160.mp4"}
+{"uid":"2713392214211631296","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":"11509170937874062422.mp4"}
+{"uid":"1644764255772518626","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place  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 fork in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place  fork in the holder 2- pick up the fork 3- put that fork in the holder 4- pick up the fork 5- put that 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 fork in the holder Q: immediate next step? \u003cPRED\u003eA: place  fork in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace  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:discriminative:discrete:True\u003e\nplace  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: place  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: place  fork in the holder\n\u003c/PRED\u003e","video":"14492816058054725173.mp4"}
+{"uid":"14701664226242248472","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput black chocolate 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":"9955651708596080299.mp4"}
+{"uid":"13322060634617029134","text":"\u003ctask:success:discrete:True\u003e\npick up the fork Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 fork\n\u003c/PRED\u003e","video":"15654193954459161444.mp4"}
+{"uid":"1503585582572262560","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 fork in the holder 2- place  fork in the holder 3- pick up the fork 4- put that fork in the holder 5- pick up the fork 6- put that fork in the holder Q: immediate next step? \u003cPRED\u003eA: pick up the white packet\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the white packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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 fork in the holder 2- place  fork in the holder 3- pick up the fork 4- put that fork in the holder 5- pick up the fork 6- put that fork in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the white packet 2- place that packet in the tray 3- pick up the white packet 4- place that packet in the tray 5- place the chip bag in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the white packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the white packet\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: pick up the white packet\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the white packet\n\u003c/PRED\u003e","video":"7866860064091265221.mp4"}
+{"uid":"12899531562413163577","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: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 fork in the holder 2- place  fork in the holder 3- pick up the fork 4- put that fork in the holder 5- pick up the fork 6- put that fork in the holder 7- pick up the white packet 8- place that packet in the tray 9- pick up the white packet 10- place that packet in the tray 11- place the chip bag in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the  packet in the bowl 2- pick up the orange packet 3- place that packet in the tray 4- place the chip bag in the bowl 5- pick up the black packet\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\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 fork in the holder 2- place  fork in the holder 3- pick up the fork 4- put that fork in the holder 5- pick up the fork 6- put that fork in the holder 7- pick up the white packet 8- place that packet in the tray 9- pick up the white packet 10- place that packet in the tray 11- place the chip bag in the bowl Q: immediate next step? \u003cPRED\u003eA: put the  packet in the bowl\n\u003c/PRED\u003e","video":"9666531647122022372.mp4"}
+{"uid":"1891351147607056137","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: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 fork in the holder 2- place  fork in the holder 3- pick up the fork 4- put that fork in the holder 5- pick up the fork 6- put that fork in the holder 7- pick up the white packet 8- place that packet in the tray 9- pick up the white packet 10- place that packet in the tray 11- place the chip bag in the bowl 12- pick up the orange packet 13- place that packet in the tray 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 fork in the holder 2- place  fork in the holder 3- pick up the fork 4- put that fork in the holder 5- pick up the fork 6- put that fork in the holder 7- pick up the white packet 8- place that packet in the tray 9- pick up the white packet 10- place that packet in the tray 11- place the chip bag in the bowl 12- pick up the orange packet 13- place that packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the  packet in the bowl 2- place the chip bag in the bowl 3- pick up the black packet 4- place that packet in the tray 5- pick up the orange packet\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\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":"4516966218567026006.mp4"}
+{"uid":"4896543988428530614","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 fork in the holder 2- place  fork in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the fork 2- put that fork in the holder 3- pick up the fork 4- put that fork in the holder 5- pick up the white packet\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the fork\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: pick up the fork\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the fork Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the fork Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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 fork in the holder 2- place  fork in the holder Q: immediate next step? \u003cPRED\u003eA: pick up the fork\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the fork\n\u003c/PRED\u003e","video":"3663781504881667480.mp4"}
+{"uid":"5813931161557638060","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10166112962846588287.mp4"}
+{"uid":"9350052232412914799","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput marker 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":"13131367710922736186.mp4"}
+{"uid":"16720929473821331111","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 fork in the holder 2- place  fork in the holder 3- pick up the fork 4- put that fork in the holder 5- pick up the fork 6- put that fork in the holder 7- pick up the white packet 8- place that packet in the tray 9- pick up the white packet 10- place that packet in the tray Q: immediate next step? \u003cPRED\u003eA: pick up the black packet\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the black packet\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the black packet\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: pick up the black packet\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 fork in the holder 2- place  fork in the holder 3- pick up the fork 4- put that fork in the holder 5- pick up the fork 6- put that fork in the holder 7- pick up the white packet 8- place that packet in the tray 9- pick up the white packet 10- place that packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the black packet 2- pick up the orange packet 3- place that packet in the tray 4- pick up the orange packet 5- place that packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the black packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the black 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":"13940698887947958558.mp4"}
+{"uid":"3170481175552856595","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the numi tea bag on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16558733543411543588.mp4"}
+{"uid":"15231757378110084343","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"5271331169550151482.mp4"}
+{"uid":"10720921413995013124","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick a black pen from 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":"13882272287593545040.mp4"}
+{"uid":"159784080189957456","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place that packet in the tray\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 that packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace that packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace that packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- place fork in the holder 2- place  fork in the holder 3- pick up the fork 4- put that fork in the holder 5- pick up the fork 6- put that fork in the holder 7- pick up the white packet 8- place that packet in the tray 9- pick up the white packet 10- place that packet in the tray 11- place the chip bag in the bowl 12- pick up the orange packet Q: immediate next step? \u003cPRED\u003eA: place that packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place that packet in the tray\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 fork in the holder 2- place  fork in the holder 3- pick up the fork 4- put that fork in the holder 5- pick up the fork 6- put that fork in the holder 7- pick up the white packet 8- place that packet in the tray 9- pick up the white packet 10- place that packet in the tray 11- place the chip bag in the bowl 12- pick up the orange packet Q: next 5 steps? \u003cPRED\u003eA: 1- place that packet in the tray 2- pick up the orange packet 3- place that packet in the tray 4- place the chip bag in the bowl 5- pick up the black packet\n\u003c/PRED\u003e","video":"10494572319932818537.mp4"}
+{"uid":"16118028726567231301","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the fork spoon in right glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4005426441723723711.mp4"}
+{"uid":"16723400283829888598","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 fork in the holder 2- place  fork in the holder 3- pick up the fork 4- put that fork in the holder 5- pick up the fork 6- put that fork in the holder 7- pick up the white packet 8- place that packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the white packet 2- place that packet in the tray 3- place the chip bag in the bowl 4- pick up the orange packet 5- place that packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the white packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the white packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the white packet\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the white packet\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 fork in the holder 2- place  fork in the holder 3- pick up the fork 4- put that fork in the holder 5- pick up the fork 6- put that fork in the holder 7- pick up the white packet 8- place that packet in the tray Q: immediate next step? \u003cPRED\u003eA: pick up the white packet\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: pick up the white packet\n\u003c/PRED\u003e","video":"6482827825229332523.mp4"}
+{"uid":"14562412672649146619","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":"425078340346588000.mp4"}
+{"uid":"601289742006968777","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 fork in the holder 2- place  fork in the holder 3- pick up the fork 4- put that fork in the holder 5- pick up the fork 6- put that fork in the holder 7- pick up the white packet 8- place that packet in the tray 9- pick up the white packet 10- place that packet in the tray 11- place the chip bag in the bowl 12- pick up the orange packet 13- place that packet in the tray 14- pick up the orange packet 15- place that packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the orange packet 2- pick up the black packet 3- place that packet in the tray 4- pick up the orange packet 5- place that packet in the tray\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: pick up the orange packet\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 fork in the holder 2- place  fork in the holder 3- pick up the fork 4- put that fork in the holder 5- pick up the fork 6- put that fork in the holder 7- pick up the white packet 8- place that packet in the tray 9- pick up the white packet 10- place that packet in the tray 11- place the chip bag in the bowl 12- pick up the orange packet 13- place that packet in the tray 14- pick up the orange packet 15- place that packet in the tray Q: immediate next step? \u003cPRED\u003eA: pick up the orange packet\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the orange packet\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the orange packet\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the orange packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the orange packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4632731680048345216.mp4"}
+{"uid":"6045057400801850662","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the scoop 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the scoop inside the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the scoop inside the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you please grab me a bowl of pistachios from the MK?. last 20 steps: 1- Unstack one paper cup from the stack 2- Place the cup on the table 3- Remove the lid on the jar 4- Take a scoop from the holder 5- Take out a scoop of Pistachio from the jar 6- Put the Pistachio inside the cup 7- Take out a scoop of Pistachio from the jar 8- Put the Pistachio inside the cup 9- Take out a scoop of Pistachio from the jar 10- Put the Pistachio inside the cup Q: immediate next step? \u003cPRED\u003eA: Place the scoop inside the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the scoop 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: can you please grab me a bowl of pistachios from the MK? Q: immediate next step? \u003cPRED\u003eA: Place the scoop inside the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you please grab me a bowl of pistachios from the MK?. last 20 steps: 1- Unstack one paper cup from the stack 2- Place the cup on the table 3- Remove the lid on the jar 4- Take a scoop from the holder 5- Take out a scoop of Pistachio from the jar 6- Put the Pistachio inside the cup 7- Take out a scoop of Pistachio from the jar 8- Put the Pistachio inside the cup 9- Take out a scoop of Pistachio from the jar 10- Put the Pistachio inside the cup Q: next 5 steps? \u003cPRED\u003eA: 1- Place the scoop inside the holder 2- Place the lid to the jar 3- done\n\u003c/PRED\u003e","video":"5332097343230588607.mp4"}
+{"uid":"3468398354301794038","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the white packets in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3269460874072436776.mp4"}
+{"uid":"10302989625216422043","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":"18060650344564578489.mp4"}
+{"uid":"16371751515416761449","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the apple from glass jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the apple from glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4160825637182810970.mp4"}
+{"uid":"18196628528324847799","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the coffee cup lid on the existing stack in the glass holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11124635318603846045.mp4"}
+{"uid":"10448001000447034880","text":"\u003ctask:success:discrete:True\u003e\npick apple from 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: pick apple from the jar\n\u003c/PRED\u003e","video":"2542187995992994628.mp4"}
+{"uid":"6877393701978447121","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the apple from the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the apple from 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 place remove the apples from the jar and place them on elios desk. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the apple from the jar 2- Pick up the apple from glass jar 3- Put the apple on table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the apple from 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 place remove the apples from the jar and place them on elios desk Q: immediate next step? \u003cPRED\u003eA: pick up the apple from the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the apple from the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place remove the apples from the jar and place them on elios desk. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick up the apple from the jar\n\u003c/PRED\u003e","video":"12706556027768083785.mp4"}
+{"uid":"18210821318430582051","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place remove the apples from the jar and place them on elios desk. last 20 steps: 1- pick orange from the jar 2- Put the orange on table 3- Pick up the apple from glass jar 4- Put the apple on table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place remove the apples from the jar and place them on elios desk. last 20 steps: 1- pick orange from the jar 2- Put the orange on table 3- Pick up the apple from glass jar 4- Put the apple on table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the apple on table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the apple on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place remove the apples from the jar and place them on elios desk Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"17179530694090137483.mp4"}
+{"uid":"9594820298255305496","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Take out a scoop of Pistachio from the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nTake out a scoop of Pistachio from the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you please grab me a bowl of pistachios from the MK?. last 20 steps: 1- Unstack one paper cup from the stack 2- Place the cup on the table 3- Remove the lid on the jar 4- Take a scoop from the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Take out a scoop of Pistachio from the jar 2- Put the Pistachio inside the cup 3- Take out a scoop of Pistachio from the jar 4- Put the Pistachio inside the cup 5- Take out a scoop of Pistachio from the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you please grab me a bowl of pistachios from the MK? Q: immediate next step? \u003cPRED\u003eA: Take out a scoop of Pistachio from the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you please grab me a bowl of pistachios from the MK?. last 20 steps: 1- Unstack one paper cup from the stack 2- Place the cup on the table 3- Remove the lid on the jar 4- Take a scoop from the holder Q: immediate next step? \u003cPRED\u003eA: Take out a scoop of Pistachio from the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Take out a scoop of Pistachio from the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nTake out a scoop of Pistachio from 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":"1733154753707901403.mp4"}
+{"uid":"2358757056196506276","text":"\u003ctask:success:discrete:False\u003e\nput the apple on the tabble Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED: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 on the tabble Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 remove the apples from the jar and place them on elios desk Q: immediate next step? \u003cPRED\u003eA: put the apple on the tabble\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place remove the apples from the jar and place them on elios desk. last 20 steps: 1- pick orange from the jar 2- Put the orange on table 3- Pick up the apple from glass jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the apple on the tabble 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place remove the apples from the jar and place them on elios desk. last 20 steps: 1- pick orange from the jar 2- Put the orange on table 3- Pick up the apple from glass jar Q: immediate next step? \u003cPRED\u003eA: put the apple on the tabble\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the apple on the tabble\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the apple on the tabble\n\u003c/PRED\u003e","video":"7703729302951080654.mp4"}
+{"uid":"13014141713064321334","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput brown 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":"11797919388612755927.mp4"}
+{"uid":"5039117138315451699","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please place remove the apples from the jar and place them on elios desk Q: immediate next step? \u003cPRED\u003eA: take the apple from the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ntake the apple from 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: take the apple from the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ntake the apple from 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 place remove the apples from the jar and place them on elios desk. last 20 steps: 1- pick orange from the jar 2- Put the orange on table Q: next 5 steps? \u003cPRED\u003eA: 1- take the apple from the jar 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: take the apple from the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place remove the apples from the jar and place them on elios desk. last 20 steps: 1- pick orange from the jar 2- Put the orange on table Q: immediate next step? \u003cPRED\u003eA: take the apple from the jar\n\u003c/PRED\u003e","video":"4729925850429277988.mp4"}
+{"uid":"16266472874490671046","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you please grab me a bowl of pistachios from the MK?. last 20 steps: 1- Unstack one paper cup from the stack 2- Place the cup on the table 3- Remove the lid on the jar 4- Take a scoop from the holder 5- Take out a scoop of Pistachio from the jar 6- Put the Pistachio inside the cup 7- Take out a scoop of Pistachio from the jar 8- Put the Pistachio inside the cup Q: next 5 steps? \u003cPRED\u003eA: 1- Take out a scoop of Pistachio from the jar 2- Put the Pistachio inside the cup 3- Place the scoop inside the holder 4- Place the lid to the jar 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nTake out a scoop of Pistachio from 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 please grab me a bowl of pistachios from the MK?. last 20 steps: 1- Unstack one paper cup from the stack 2- Place the cup on the table 3- Remove the lid on the jar 4- Take a scoop from the holder 5- Take out a scoop of Pistachio from the jar 6- Put the Pistachio inside the cup 7- Take out a scoop of Pistachio from the jar 8- Put the Pistachio inside the cup Q: immediate next step? \u003cPRED\u003eA: Take out a scoop of Pistachio from the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Take out a scoop of Pistachio from the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Take out a scoop of Pistachio from the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you please grab me a bowl of pistachios from the MK? Q: immediate next step? \u003cPRED\u003eA: Take out a scoop of Pistachio from the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nTake out a scoop of Pistachio from 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":"17380940781808614089.mp4"}
+{"uid":"13336643235232766563","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please place remove the apples from the jar and place them on elios desk Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place remove the apples from the jar and place them on elios desk. last 20 steps: 1- pick orange from the jar 2- Put the orange on table 3- take the apple from the jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ntake the apple from 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: take the apple from the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place remove the apples from the jar and place them on elios desk. last 20 steps: 1- pick orange from the jar 2- Put the orange on table 3- take the apple from the jar Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"17655697901062939197.mp4"}
+{"uid":"8176698706020431439","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white bag in a big basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"460069058335506888.mp4"}
+{"uid":"6311211957475117249","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput nut in 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":"15640270249381897239.mp4"}
+{"uid":"5213040352506190786","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Take a scoop from the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nTake a scoop from 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":"14799385312496163846.mp4"}
+{"uid":"395032524451857431","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nTake out a scoop of Pistachio from 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\nTake out a scoop of Pistachio from 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: can you please grab me a bowl of pistachios from the MK?. last 20 steps: 1- Unstack one paper cup from the stack 2- Place the cup on the table 3- Remove the lid on the jar 4- Take a scoop from the holder 5- Take out a scoop of Pistachio from the jar 6- Put the Pistachio inside the cup Q: next 5 steps? \u003cPRED\u003eA: 1- Take out a scoop of Pistachio from the jar 2- Put the Pistachio inside the cup 3- Take out a scoop of Pistachio from the jar 4- Put the Pistachio inside the cup 5- Place the scoop inside the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Take out a scoop of Pistachio from the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you please grab me a bowl of pistachios from the MK? Q: immediate next step? \u003cPRED\u003eA: Take out a scoop of Pistachio from the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Take out a scoop of Pistachio from the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you please grab me a bowl of pistachios from the MK?. last 20 steps: 1- Unstack one paper cup from the stack 2- Place the cup on the table 3- Remove the lid on the jar 4- Take a scoop from the holder 5- Take out a scoop of Pistachio from the jar 6- Put the Pistachio inside the cup Q: immediate next step? \u003cPRED\u003eA: Take out a scoop of Pistachio from the jar\n\u003c/PRED\u003e","video":"14547083397896638285.mp4"}
+{"uid":"5813468172479428308","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the Pistachio inside the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you please grab me a bowl of pistachios from the MK? Q: immediate next step? \u003cPRED\u003eA: Put the Pistachio inside the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you please grab me a bowl of pistachios from the MK?. last 20 steps: 1- Unstack one paper cup from the stack 2- Place the cup on the table 3- Remove the lid on the jar 4- Take a scoop from the holder 5- Take out a scoop of Pistachio from the jar 6- Put the Pistachio inside the cup 7- Take out a scoop of Pistachio from the jar 8- Put the Pistachio inside the cup 9- Take out a scoop of Pistachio from the jar Q: next 5 steps? \u003cPRED\u003eA: 1- Put the Pistachio inside the cup 2- Place the scoop inside the holder 3- Place the lid to the jar 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the Pistachio inside 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: can you please grab me a bowl of pistachios from the MK?. last 20 steps: 1- Unstack one paper cup from the stack 2- Place the cup on the table 3- Remove the lid on the jar 4- Take a scoop from the holder 5- Take out a scoop of Pistachio from the jar 6- Put the Pistachio inside the cup 7- Take out a scoop of Pistachio from the jar 8- Put the Pistachio inside the cup 9- Take out a scoop of Pistachio from the jar Q: immediate next step? \u003cPRED\u003eA: Put the Pistachio inside the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the Pistachio inside the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the Pistachio inside the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4053473760413614948.mp4"}
+{"uid":"3349160368178200736","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place remove the apples from the jar and place them on elios desk. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick orange from the jar 2- Put the orange on table 3- Pick up the apple from glass jar 4- Put the apple on table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick orange from the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick orange from 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 place remove the apples from the jar and place them on elios desk. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick orange from the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick orange from 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 place remove the apples from the jar and place them on elios desk Q: immediate next step? \u003cPRED\u003eA: pick orange from the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick orange from the jar\n\u003c/PRED\u003e","video":"2235766795483448093.mp4"}
+{"uid":"1117878679538182199","text":"\u003ctask:success:discrete:True\u003e\nPut the orange 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 orange on table\n\u003c/PRED\u003e","video":"4017205361861441228.mp4"}
+{"uid":"10650657216333863557","text":"\u003ctask:success:discrete:True\u003e\nTake out a scoop of Pistachio from 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: Take out a scoop of Pistachio from the jar\n\u003c/PRED\u003e","video":"16906200103220360681.mp4"}
+{"uid":"3085650867965114482","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place remove the apples from the jar and place them on elios desk. last 20 steps: 1- pick orange from the jar 2- Put the orange on table Q: immediate next step? \u003cPRED\u003eA: pick apple from the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick apple from 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\npick apple from 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 place remove the apples from the jar and place them on elios desk. last 20 steps: 1- pick orange from the jar 2- Put the orange on table Q: next 5 steps? \u003cPRED\u003eA: 1- pick apple from the jar 2- Put the apple on table 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place remove the apples from the jar and place them on elios desk Q: immediate next step? \u003cPRED\u003eA: pick apple from the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick apple from the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick apple from the jar\n\u003c/PRED\u003e","video":"11396086021646649251.mp4"}
+{"uid":"9736122611790849473","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the apple on table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the apple on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5253460288611048331.mp4"}
+{"uid":"10924903318166666148","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the popcorn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4180682888203616997.mp4"}
+{"uid":"386311519502958872","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nwipe the board Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6304878443510856613.mp4"}
+{"uid":"5377515409845628690","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the yellow marker in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12838928045893619631.mp4"}
+{"uid":"4372645638094027","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the cup on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7145445310944152596.mp4"}
+{"uid":"7388024358892384358","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: can you please grab me a bowl of pistachios from the MK? Q: immediate next step? \u003cPRED\u003eA: Put the Pistachio inside the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the Pistachio inside the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the Pistachio inside the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the Pistachio inside the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you please grab me a bowl of pistachios from the MK?. last 20 steps: 1- Unstack one paper cup from the stack 2- Place the cup on the table 3- Remove the lid on the jar 4- Take a scoop from the holder 5- Take out a scoop of Pistachio from the jar Q: next 5 steps? \u003cPRED\u003eA: 1- Put the Pistachio inside the cup 2- Take out a scoop of Pistachio from the jar 3- Put the Pistachio inside the cup 4- Take out a scoop of Pistachio from the jar 5- Put the Pistachio inside the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the Pistachio inside the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you please grab me a bowl of pistachios from the MK?. last 20 steps: 1- Unstack one paper cup from the stack 2- Place the cup on the table 3- Remove the lid on the jar 4- Take a scoop from the holder 5- Take out a scoop of Pistachio from the jar Q: immediate next step? \u003cPRED\u003eA: Put the Pistachio inside the cup\n\u003c/PRED\u003e","video":"9718980200697180435.mp4"}
+{"uid":"913331286731728762","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":"1031908462901432843.mp4"}
+{"uid":"262621239552790135","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place remove the apples from the jar and place them on elios desk. last 20 steps: 1- pick orange from the jar Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange on table 2- Pick up the apple from glass jar 3- Put the apple on table 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place remove the apples from the jar and place them on elios desk. last 20 steps: 1- pick orange from the jar Q: immediate next step? \u003cPRED\u003eA: Put the orange on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place remove the apples from the jar and place them on elios desk Q: immediate next step? \u003cPRED\u003eA: Put the orange on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the orange on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4474937748245219737.mp4"}
+{"uid":"12584560393295114736","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachio in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3650248847309321376.mp4"}
+{"uid":"9684159107754067724","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you please grab me a bowl of pistachios from the MK?. last 20 steps: 1- Unstack one paper cup from the stack Q: immediate next step? \u003cPRED\u003eA: Place the cup on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the cup on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you please grab me a bowl of pistachios from the MK? Q: immediate next step? \u003cPRED\u003eA: Place the cup on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the cup on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the cup on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you please grab me a bowl of pistachios from the MK?. last 20 steps: 1- Unstack one paper cup from the stack Q: next 5 steps? \u003cPRED\u003eA: 1- Place the cup on the table 2- Remove the lid on the jar 3- Take a scoop from the holder 4- Take out a scoop of Pistachio from the jar 5- Put the Pistachio inside the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the cup on the table\n\u003c/PRED\u003e","video":"15563450639480509151.mp4"}
+{"uid":"9752142201750855492","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the lid to the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the lid to the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the lid to the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you please grab me a bowl of pistachios from the MK? Q: immediate next step? \u003cPRED\u003eA: Place the lid to the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the lid to 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 please grab me a bowl of pistachios from the MK?. last 20 steps: 1- Unstack one paper cup from the stack 2- Place the cup on the table 3- Remove the lid on the jar 4- Take a scoop from the holder 5- Take out a scoop of Pistachio from the jar 6- Put the Pistachio inside the cup 7- Take out a scoop of Pistachio from the jar 8- Put the Pistachio inside the cup 9- Take out a scoop of Pistachio from the jar 10- Put the Pistachio inside the cup 11- Place the scoop inside the holder Q: immediate next step? \u003cPRED\u003eA: Place the lid to the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you please grab me a bowl of pistachios from the MK?. last 20 steps: 1- Unstack one paper cup from the stack 2- Place the cup on the table 3- Remove the lid on the jar 4- Take a scoop from the holder 5- Take out a scoop of Pistachio from the jar 6- Put the Pistachio inside the cup 7- Take out a scoop of Pistachio from the jar 8- Put the Pistachio inside the cup 9- Take out a scoop of Pistachio from the jar 10- Put the Pistachio inside the cup 11- Place the scoop inside the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Place the lid to the jar 2- done\n\u003c/PRED\u003e","video":"8490740590352136522.mp4"}
+{"uid":"9502086004419985170","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the orange from glass jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place remove the apples from the jar and place them on elios desk. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Pick up the orange from glass jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place remove the apples from the jar and place them on elios desk. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the orange from glass jar 2- Put the orange on table 3- Pick up the apple from glass jar 4- Put the apple on table 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place remove the apples from the jar and place them on elios desk Q: immediate next step? \u003cPRED\u003eA: Pick up the orange from glass jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the orange from glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the orange from glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the orange from glass jar\n\u003c/PRED\u003e","video":"6756299189443716733.mp4"}
+{"uid":"5693992304957824242","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npull the 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":"6537510226392899577.mp4"}
+{"uid":"13615066227864664589","text":"\u003ctask:success:discrete:True\u003e\nPlace the cup on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the cup on the table\n\u003c/PRED\u003e","video":"17673217542603261147.mp4"}
+{"uid":"379193159137561592","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the orange into the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1264403071631445689.mp4"}
+{"uid":"2613445342292070287","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the blue pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7931005149763195543.mp4"}
+{"uid":"1829467764727469779","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place remove the apples from the jar and place them on elios desk. last 20 steps: 1- pick orange from the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the apple on table 2- Pick up the apple from glass jar 3- Put the apple on table 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place remove the apples from the jar and place them on elios desk. last 20 steps: 1- pick orange from the jar Q: immediate next step? \u003cPRED\u003eA: put the apple on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the apple on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the apple on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place remove the apples from the jar and place them on elios desk Q: immediate next step? \u003cPRED\u003eA: put the apple on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the apple 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 the apple on table\n\u003c/PRED\u003e","video":"11131153155234349195.mp4"}
+{"uid":"13448686018437266443","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the orange from glass jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the orange from glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16083572298533857961.mp4"}
+{"uid":"8874567694961933391","text":"\u003ctask:success:discrete:False\u003e\nUnstack one paper cup from the stack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Unstack one paper cup from the stack\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nUnstack one paper cup from the stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you please grab me a bowl of pistachios from the MK? Q: immediate next step? \u003cPRED\u003eA: Unstack one paper cup from the stack\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you please grab me a bowl of pistachios from the MK?. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Unstack one paper cup from the stack 2- Place the cup on the table 3- Remove the lid on the jar 4- Take a scoop from the holder 5- Take out a scoop of Pistachio from the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you please grab me a bowl of pistachios from the MK?. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Unstack one paper cup from the stack\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Unstack one paper cup from the stack\n\u003c/PRED\u003e","video":"15593082625807130968.mp4"}
+{"uid":"13722429914411767547","text":"\u003ctask:success:discrete:True\u003e\nplace apple on the other table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 remove the apples from the jar and place them on elios desk. last 20 steps: 1- pick orange from the jar 2- Put the orange on table 3- Pick up the apple from glass jar 4- place apple on the other table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place remove the apples from the jar and place them on elios desk. last 20 steps: 1- pick orange from the jar 2- Put the orange on table 3- Pick up the apple from glass jar 4- place apple on the other table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place apple on the other table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place remove the apples from the jar and place them on elios desk Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"2557685531444295223.mp4"}
+{"uid":"10924532289959357824","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the lid to the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you please grab me a bowl of pistachios from the MK?. last 20 steps: 1- Unstack one paper cup from the stack 2- Place the cup on the table 3- Remove the lid on the jar 4- Take a scoop from the holder 5- Take out a scoop of Pistachio from the jar 6- Put the Pistachio inside the cup 7- Take out a scoop of Pistachio from the jar 8- Put the Pistachio inside the cup 9- Take out a scoop of Pistachio from the jar 10- Put the Pistachio inside the cup 11- Place the scoop inside the holder 12- Place the lid to the jar Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you please grab me a bowl of pistachios from the MK? Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the lid to the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you please grab me a bowl of pistachios from the MK?. last 20 steps: 1- Unstack one paper cup from the stack 2- Place the cup on the table 3- Remove the lid on the jar 4- Take a scoop from the holder 5- Take out a scoop of Pistachio from the jar 6- Put the Pistachio inside the cup 7- Take out a scoop of Pistachio from the jar 8- Put the Pistachio inside the cup 9- Take out a scoop of Pistachio from the jar 10- Put the Pistachio inside the cup 11- Place the scoop inside the holder 12- Place the lid to the jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"992653493326301012.mp4"}
+{"uid":"8645811115448312241","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the apple from the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the apple from 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":"5087667149574627553.mp4"}
+{"uid":"8443428831553880053","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place remove the apples from the jar and place them on elios desk. last 20 steps: 1- pick orange from the jar 2- Put the orange on table Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the apple from glass jar 2- Put the apple on table 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place remove the apples from the jar and place them on elios desk. last 20 steps: 1- pick orange from the jar 2- Put the orange on table Q: immediate next step? \u003cPRED\u003eA: Pick up the apple from glass jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the apple from glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the apple from glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place remove the apples from the jar and place them on elios desk Q: immediate next step? \u003cPRED\u003eA: Pick up the apple from glass jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the apple from glass jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the apple from glass jar\n\u003c/PRED\u003e","video":"12311367784982901964.mp4"}
+{"uid":"3247750822849654449","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the green packet inside 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":"4757920675904635946.mp4"}
+{"uid":"11752504807992688563","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the white bottle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3550225995589168229.mp4"}
+{"uid":"11324761592312169109","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Remove the lid on the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nRemove the lid on the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12806568294368410177.mp4"}
+{"uid":"2299218341971315019","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place remove the apples from the jar and place them on elios desk. last 20 steps: 1- pick orange from the jar 2- Put the orange on table 3- Pick up the apple from glass jar Q: immediate next step? \u003cPRED\u003eA: place apple on the other table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place apple on the other table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace apple on the other table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 remove the apples from the jar and place them on elios desk. last 20 steps: 1- pick orange from the jar 2- Put the orange on table 3- Pick up the apple from glass jar Q: next 5 steps? \u003cPRED\u003eA: 1- place apple on the other table 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place apple on the other table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place remove the apples from the jar and place them on elios desk Q: immediate next step? \u003cPRED\u003eA: place apple on the other table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace apple on the other table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12808029766048112171.mp4"}
+{"uid":"1914579759494946311","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the plastic glass 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":"1506134375181530302.mp4"}
+{"uid":"3416028321127529913","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace red packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16584782408758022408.mp4"}
+{"uid":"5807543945361120895","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sticky notes in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12479453545367675088.mp4"}
+{"uid":"18300707538230162382","text":"\u003ctask:success:discrete:False\u003e\nPut the apple 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 the apple on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place remove the apples from the jar and place them on elios desk. last 20 steps: 1- pick orange from the jar 2- Put the orange on table 3- Pick up the apple from glass jar Q: immediate next step? \u003cPRED\u003eA: Put the apple on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the apple on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place remove the apples from the jar and place them on elios desk Q: immediate next step? \u003cPRED\u003eA: Put the apple on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place remove the apples from the jar and place them on elios desk. last 20 steps: 1- pick orange from the jar 2- Put the orange on table 3- Pick up the apple from glass jar Q: next 5 steps? \u003cPRED\u003eA: 1- Put the apple on table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the apple 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":"6818521596741000073.mp4"}
+{"uid":"12530272155023860125","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Take out a scoop of Pistachio from the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nTake out a scoop of Pistachio from 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":"9038830221194284829.mp4"}
+{"uid":"13928420433537611701","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput sticky notes in the organiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5625816813786032171.mp4"}
+{"uid":"176907224234323451","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Remove the lid on the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nRemove the lid on the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you please grab me a bowl of pistachios from the MK?. last 20 steps: 1- Unstack one paper cup from the stack 2- Place the cup on the table Q: immediate next step? \u003cPRED\u003eA: Remove the lid on the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you please grab me a bowl of pistachios from the MK?. last 20 steps: 1- Unstack one paper cup from the stack 2- Place the cup on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Remove the lid on the jar 2- Take a scoop from the holder 3- Take out a scoop of Pistachio from the jar 4- Put the Pistachio inside the cup 5- Take out a scoop of Pistachio from the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Remove the lid on the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you please grab me a bowl of pistachios from the MK? Q: immediate next step? \u003cPRED\u003eA: Remove the lid on the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nRemove the lid on the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6276792605771394966.mp4"}
+{"uid":"18052276051567498076","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Take a scoop from the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Take a scoop from the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nTake a scoop from 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: can you please grab me a bowl of pistachios from the MK?. last 20 steps: 1- Unstack one paper cup from the stack 2- Place the cup on the table 3- Remove the lid on the jar Q: immediate next step? \u003cPRED\u003eA: Take a scoop from the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you please grab me a bowl of pistachios from the MK?. last 20 steps: 1- Unstack one paper cup from the stack 2- Place the cup on the table 3- Remove the lid on the jar Q: next 5 steps? \u003cPRED\u003eA: 1- Take a scoop from the holder 2- Take out a scoop of Pistachio from the jar 3- Put the Pistachio inside the cup 4- Take out a scoop of Pistachio from the jar 5- Put the Pistachio inside the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nTake a scoop from the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you please grab me a bowl of pistachios from the MK? Q: immediate next step? \u003cPRED\u003eA: Take a scoop from the holder\n\u003c/PRED\u003e","video":"13064423752418960681.mp4"}
+{"uid":"3352221018812706141","text":"\u003ctask:success:discrete:True\u003e\npick orange from 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: pick orange from the jar\n\u003c/PRED\u003e","video":"18130722263573791325.mp4"}
+{"uid":"6084691370163634377","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the chocolate cup on the right table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14346924604034805784.mp4"}
+{"uid":"17607885977922772825","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you please grab me a bowl of pistachios from the MK?. last 20 steps: 1- Unstack one paper cup from the stack 2- Place the cup on the table 3- Remove the lid on the jar 4- Take a scoop from the holder 5- Take out a scoop of Pistachio from the jar 6- Put the Pistachio inside the cup 7- Take out a scoop of Pistachio from the jar Q: immediate next step? \u003cPRED\u003eA: Put the Pistachio inside the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you please grab me a bowl of pistachios from the MK? Q: immediate next step? \u003cPRED\u003eA: Put the Pistachio inside the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the Pistachio inside the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the Pistachio inside the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the Pistachio inside 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: Put the Pistachio inside the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you please grab me a bowl of pistachios from the MK?. last 20 steps: 1- Unstack one paper cup from the stack 2- Place the cup on the table 3- Remove the lid on the jar 4- Take a scoop from the holder 5- Take out a scoop of Pistachio from the jar 6- Put the Pistachio inside the cup 7- Take out a scoop of Pistachio from the jar Q: next 5 steps? \u003cPRED\u003eA: 1- Put the Pistachio inside the cup 2- Take out a scoop of Pistachio from the jar 3- Put the Pistachio inside the cup 4- Place the scoop inside the holder 5- Place the lid to the jar\n\u003c/PRED\u003e","video":"271738679544977046.mp4"}
+{"uid":"12463634739256947921","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please place remove the apples from the jar and place them on elios desk Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place remove the apples from the jar and place them on elios desk. last 20 steps: 1- pick orange from the jar 2- Put the orange on table 3- Pick up the apple from glass jar 4- put the apple on the tabble Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place remove the apples from the jar and place them on elios desk. last 20 steps: 1- pick orange from the jar 2- Put the orange on table 3- Pick up the apple from glass jar 4- put the apple on the tabble 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 apple on the tabble\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the apple on the tabble Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15223256855916552662.mp4"}
+{"uid":"10901902870968729862","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the helmet from the couch Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7184035223081324372.mp4"}
+{"uid":"4298727690661132113","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pistachio into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12185341645636808751.mp4"}
+{"uid":"15319929267547821543","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put black pens in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put black pens in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput black 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: Place the pens back in the pen holder. last 20 steps: 1- put black pens in the holder Q: immediate next step? \u003cPRED\u003eA: put black pens in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the pens back in the pen holder. last 20 steps: 1- put black pens in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put black pens in the holder 2- put blue pens in the holder 3- put black pens in the holder 4- put red pens in the holder 5- put red pens in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the pens back in the pen holder. Q: immediate next step? \u003cPRED\u003eA: put black pens in the holder\n\u003c/PRED\u003e","video":"9772164520001697861.mp4"}
+{"uid":"12973462014567913088","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue pens in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the pens back in the pen holder. Q: immediate next step? \u003cPRED\u003eA: put blue pens in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue 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: Place the pens back in the pen holder. last 20 steps: 1- put black pens in the holder 2- put black pens in the holder Q: immediate next step? \u003cPRED\u003eA: put blue pens in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the pens back in the pen holder. last 20 steps: 1- put black pens in the holder 2- put black pens in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put blue pens in the holder 2- put black pens in the holder 3- put red pens in the holder 4- put red pens 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 blue pens in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput blue 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","video":"2291249867214573263.mp4"}
+{"uid":"16548589139269758196","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the paper clip 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":"4590207048338387234.mp4"}
+{"uid":"10639185160811561838","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":"15300763601393211598.mp4"}
+{"uid":"1739090029666645409","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the pens back in the pen holder. last 20 steps: 1- put black pens in the holder 2- put black pens in the holder 3- put blue pens in the holder 4- put black pens in the holder 5- put red pens in the holder Q: immediate next step? \u003cPRED\u003eA: put red pens in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put red pens in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the pens back in the pen holder. Q: immediate next step? \u003cPRED\u003eA: put red pens in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put red pens in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput red 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: Place the pens back in the pen holder. last 20 steps: 1- put black pens in the holder 2- put black pens in the holder 3- put blue pens in the holder 4- put black pens in the holder 5- put red pens in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put red pens in the holder 2- adjust the holder 3- done\n\u003c/PRED\u003e","video":"556898002322566563.mp4"}
+{"uid":"12659792166532759933","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put black pens in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput black 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":"5930179675698534552.mp4"}
+{"uid":"11181644221632506044","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":"2894359469188760531.mp4"}
+{"uid":"17709050615713062343","text":"\u003ctask:success:discrete:True\u003e\nput black 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 black pens in the holder\n\u003c/PRED\u003e","video":"7494560839066051541.mp4"}
+{"uid":"18143145661521513272","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput red 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put red pens in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the pens back in the pen holder. Q: immediate next step? \u003cPRED\u003eA: put red pens in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the pens back in the pen holder. last 20 steps: 1- put black pens in the holder 2- put black pens in the holder 3- put blue pens in the holder 4- put black pens in the holder Q: immediate next step? \u003cPRED\u003eA: put red pens in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput red 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put red pens in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the pens back in the pen holder. last 20 steps: 1- put black pens in the holder 2- put black pens in the holder 3- put blue pens in the holder 4- put black pens in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put red pens in the holder 2- put red pens in the holder 3- adjust the holder 4- done\n\u003c/PRED\u003e","video":"8229845213070028052.mp4"}
+{"uid":"5496114534285708795","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \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: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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: adjust the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the pens back in the pen holder. last 20 steps: 1- put black pens in the holder 2- put black pens in the holder 3- put blue pens in the holder 4- put black pens in the holder 5- put red pens in the holder 6- put red pens in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- adjust the holder 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the pens back in the pen holder. last 20 steps: 1- put black pens in the holder 2- put black pens in the holder 3- put blue pens in the holder 4- put black pens in the holder 5- put red pens in the holder 6- put red pens in the holder Q: immediate next step? \u003cPRED\u003eA: adjust the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the pens back in the pen holder. Q: immediate next step? \u003cPRED\u003eA: adjust the holder\n\u003c/PRED\u003e","video":"14091080607580264702.mp4"}
+{"uid":"17364460447417483526","text":"\u003ctask:success:discrete:False\u003e\nput black 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 black 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: Place the pens back in the pen holder. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put black pens in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the pens back in the pen holder. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put black pens in the holder 2- put black pens in the holder 3- put blue pens in the holder 4- put black pens in the holder 5- put red pens in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the pens back in the pen holder. Q: immediate next step? \u003cPRED\u003eA: put black pens in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put black pens in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put black pens in the holder\n\u003c/PRED\u003e","video":"10027889412892996370.mp4"}
+{"uid":"16190754879796217879","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":"2440088079930293087.mp4"}
+{"uid":"5319787571975128570","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop nut in a cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4255907120905974826.mp4"}
+{"uid":"10468501583550470379","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput black 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put black pens in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put black pens in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the pens back in the pen holder. last 20 steps: 1- put black pens in the holder 2- put black pens in the holder 3- put blue pens in the holder Q: immediate next step? \u003cPRED\u003eA: put black pens in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the pens back in the pen holder. last 20 steps: 1- put black pens in the holder 2- put black pens in the holder 3- put blue pens in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put black pens in the holder 2- put red pens in the holder 3- put red pens in the holder 4- adjust the holder 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput black 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:planning:freeform\u003e\ncurrent goal is: Place the pens back in the pen holder. Q: immediate next step? \u003cPRED\u003eA: put black pens in the holder\n\u003c/PRED\u003e","video":"5345262671524310741.mp4"}
+{"uid":"13436766444801506144","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":"6883382422887418795.mp4"}
+{"uid":"14560803927053830620","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":"4121964066723866919.mp4"}
+{"uid":"7403675448180079869","text":"\u003ctask:success:discrete:False\u003e\nput banana peel in the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the utensils and put it in the cup. then throw out the banana peel and napkins. last 20 steps: 1- put fork in the glass 2- pick up the banana peel Q: next 5 steps? \u003cPRED\u003eA: 1- put banana peel in the dustbin 2- pick up the paper cup 3- put paper cup in the dustbin 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put banana peel in the dustbin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put banana peel in the dustbin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up the utensils and put it in the cup. then throw out the banana peel and napkins. Q: immediate next step? \u003cPRED\u003eA: put banana peel in the dustbin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput banana peel in the dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the utensils and put it in the cup. then throw out the banana peel and napkins. last 20 steps: 1- put fork in the glass 2- pick up the banana peel Q: immediate next step? \u003cPRED\u003eA: put banana peel in the dustbin\n\u003c/PRED\u003e","video":"2604517033190166876.mp4"}
+{"uid":"12766802788215149116","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":"2255221579222949492.mp4"}
+{"uid":"2070451446336121055","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":"12628945838482794867.mp4"}
+{"uid":"4153752167427704653","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16017675347034438247.mp4"}
+{"uid":"15407517468382357662","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the scoop 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":"7150622340222678714.mp4"}
+{"uid":"15392832612174842639","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop 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":"14934311689747478605.mp4"}
+{"uid":"17926682041372741915","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":"13109831842697540994.mp4"}
+{"uid":"16913117471453036090","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":"7671520845823521710.mp4"}
+{"uid":"12352006795739013379","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put banana in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put banana in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the fruits into the bowl Q: immediate next step? \u003cPRED\u003eA: put banana in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the fruits into the bowl. last 20 steps: 1- put orange in the bowl 2- put banana in the bowl 3- move fruit in the front of banana 4- put orange in the bowl 5- put fruit in the bowl 6- put pear in the bowl 7- put banana in the bowl 8- put orange in the bowl 9- put watermelon in the bowl 10- put apple in the bowl 11- put banana in the bowl Q: immediate next step? \u003cPRED\u003eA: put banana in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the fruits into the bowl. last 20 steps: 1- put orange in the bowl 2- put banana in the bowl 3- move fruit in the front of banana 4- put orange in the bowl 5- put fruit in the bowl 6- put pear in the bowl 7- put banana in the bowl 8- put orange in the bowl 9- put watermelon in the bowl 10- put apple in the bowl 11- put banana in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put banana in the bowl 2- done\n\u003c/PRED\u003e","video":"7222275528086072083.mp4"}
+{"uid":"15428396464272210229","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the banana peel\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up the utensils and put it in the cup. then throw out the banana peel and napkins. Q: immediate next step? \u003cPRED\u003eA: pick up the banana peel\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the banana peel Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the utensils and put it in the cup. then throw out the banana peel and napkins. last 20 steps: 1- put fork in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the banana peel 2- put banana peel in the dustbin 3- pick up the paper cup 4- put paper cup in the dustbin 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the banana peel\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the utensils and put it in the cup. then throw out the banana peel and napkins. last 20 steps: 1- put fork in the glass Q: immediate next step? \u003cPRED\u003eA: pick up the banana peel\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the banana peel Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4883769945214263582.mp4"}
+{"uid":"8275773268180015143","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the fruits into the bowl Q: immediate next step? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the fruits into the bowl. last 20 steps: 1- put orange in the bowl 2- put banana in the bowl 3- move fruit in the front of banana Q: next 5 steps? \u003cPRED\u003eA: 1- put orange in the bowl 2- put fruit in the bowl 3- put pear in the bowl 4- put banana in the bowl 5- put orange in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the fruits into the bowl. last 20 steps: 1- put orange in the bowl 2- put banana in the bowl 3- move fruit in the front of banana Q: immediate next step? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e","video":"15555907731592389283.mp4"}
+{"uid":"8846989895921886753","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput sticky notes in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3507448139854097971.mp4"}
+{"uid":"3212289467088650247","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":"11585895228033422956.mp4"}
+{"uid":"2807960593268609666","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a snacks packet in basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8519159775975700407.mp4"}
+{"uid":"9031030292766536786","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":"15929531581188247870.mp4"}
+{"uid":"8175022168403376434","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pear in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pear in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput pear in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the fruits into the bowl. last 20 steps: 1- put orange in the bowl 2- put banana in the bowl 3- move fruit in the front of banana 4- put orange in the bowl 5- put fruit in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put pear in the bowl 2- put banana in the bowl 3- put orange in the bowl 4- put watermelon in the bowl 5- put apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pear in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the fruits into the bowl. last 20 steps: 1- put orange in the bowl 2- put banana in the bowl 3- move fruit in the front of banana 4- put orange in the bowl 5- put fruit in the bowl Q: immediate next step? \u003cPRED\u003eA: put pear in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the fruits into the bowl Q: immediate next step? \u003cPRED\u003eA: put pear in the bowl\n\u003c/PRED\u003e","video":"6775583284195608614.mp4"}
+{"uid":"12696587660773238696","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop sticky note 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":"3245026832779350718.mp4"}
+{"uid":"17327150023654448359","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a toffee 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":"8274044417937439085.mp4"}
+{"uid":"3726023043796240181","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the popcorn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17243843688618985895.mp4"}
+{"uid":"4994445114511695263","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput white packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7656491067342079212.mp4"}
+{"uid":"16326032003303100754","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the utensils and put it in the cup. then throw out the banana peel and napkins. last 20 steps: 1- put fork in the glass 2- pick up the banana peel 3- put banana peel in the dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the paper cup 2- put paper cup in the dustbin 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up the utensils and put it in the cup. then throw out the banana peel and napkins. Q: immediate next step? \u003cPRED\u003eA: pick up the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the paper cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the paper cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the utensils and put it in the cup. then throw out the banana peel and napkins. last 20 steps: 1- put fork in the glass 2- pick up the banana peel 3- put banana peel in the dustbin Q: immediate next step? \u003cPRED\u003eA: pick up the paper cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the paper cup\n\u003c/PRED\u003e","video":"15979678428300740894.mp4"}
+{"uid":"407043075475058348","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the cap from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"371417769088138088.mp4"}
+{"uid":"6429974499047521148","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the fruits into the bowl. last 20 steps: 1- put orange in the bowl 2- put banana in the bowl 3- move fruit in the front of banana 4- put orange in the bowl 5- put fruit in the bowl 6- put pear in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put banana in the bowl 2- put orange in the bowl 3- put watermelon in the bowl 4- put apple in the bowl 5- put banana in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the fruits into the bowl Q: immediate next step? \u003cPRED\u003eA: put banana in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the fruits into the bowl. last 20 steps: 1- put orange in the bowl 2- put banana in the bowl 3- move fruit in the front of banana 4- put orange in the bowl 5- put fruit in the bowl 6- put pear in the bowl Q: immediate next step? \u003cPRED\u003eA: put banana in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput banana in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put banana in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put banana in the bowl\n\u003c/PRED\u003e","video":"3651194549146587443.mp4"}
+{"uid":"9747105414817972034","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput fork in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the utensils and put it in the cup. then throw out the banana peel and napkins. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put fork in the glass 2- pick up the banana peel 3- put banana peel in the dustbin 4- pick up the paper cup 5- put paper cup in the dustbin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up the utensils and put it in the cup. then throw out the banana peel and napkins. Q: immediate next step? \u003cPRED\u003eA: put fork in the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put fork in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput fork in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put fork in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the utensils and put it in the cup. then throw out the banana peel and napkins. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put fork in the glass\n\u003c/PRED\u003e","video":"16557098415558157361.mp4"}
+{"uid":"571688045530168257","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put watermelon in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput watermelon in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the fruits into the bowl. last 20 steps: 1- put orange in the bowl 2- put banana in the bowl 3- move fruit in the front of banana 4- put orange in the bowl 5- put fruit in the bowl 6- put pear in the bowl 7- put banana in the bowl 8- put orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put watermelon in the bowl 2- put apple in the bowl 3- put banana in the bowl 4- put banana in the bowl 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput watermelon in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the fruits into the bowl. last 20 steps: 1- put orange in the bowl 2- put banana in the bowl 3- move fruit in the front of banana 4- put orange in the bowl 5- put fruit in the bowl 6- put pear in the bowl 7- put banana in the bowl 8- put orange in the bowl Q: immediate next step? \u003cPRED\u003eA: put watermelon in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the fruits into the bowl Q: immediate next step? \u003cPRED\u003eA: put watermelon in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put watermelon in the bowl\n\u003c/PRED\u003e","video":"10892843746587307292.mp4"}
+{"uid":"7041173974825904315","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the fruits into the bowl. last 20 steps: 1- put orange in the bowl 2- put banana in the bowl Q: immediate next step? \u003cPRED\u003eA: move fruit in the front of banana\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the fruits into the bowl. last 20 steps: 1- put orange in the bowl 2- put banana in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- move fruit in the front of banana 2- put orange in the bowl 3- put fruit in the bowl 4- put pear in the bowl 5- put banana in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move fruit in the front of banana\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove fruit in the front of 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:affordance:discriminative:discrete:True\u003e\nmove fruit in the front of 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move fruit in the front of banana\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the fruits into the bowl Q: immediate next step? \u003cPRED\u003eA: move fruit in the front of banana\n\u003c/PRED\u003e","video":"15094293676661852506.mp4"}
+{"uid":"7271229655818997144","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the cans into the tray. last 20 steps: 1- place the can in the tray 2- place the can in the tray 3- place the can in the tray 4- place the can in the tray 5- place the can in the tray Q: immediate next step? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the cans into the tray Q: immediate next step? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the cans into the tray. last 20 steps: 1- place the can in the tray 2- place the can in the tray 3- place the can in the tray 4- place the can in the tray 5- place the can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the can in the tray 2- place the can in the tray 3- place the can in the tray 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e","video":"9224178193647440494.mp4"}
+{"uid":"16876030310037670603","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the apple into the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9375579923426907349.mp4"}
+{"uid":"4908328523291253575","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the cans into the tray. last 20 steps: 1- place the can in the tray 2- place the can in the tray 3- place the can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the can in the tray 2- place the can in the tray 3- place the can in the tray 4- place the can in the tray 5- place the can in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the cans into the tray. last 20 steps: 1- place the can in the tray 2- place the can in the tray 3- place the can in the tray Q: immediate next step? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the cans into the tray Q: immediate next step? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e","video":"4740911455264682837.mp4"}
+{"uid":"15698412968956295703","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the cans into the tray. last 20 steps: 1- place the can in the tray 2- place the can in the tray 3- place the can in the tray 4- place the can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the can in the tray 2- place the can in the tray 3- place the can in the tray 4- place the can in the tray 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the cans into the tray Q: immediate next step? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the cans into the tray. last 20 steps: 1- place the can in the tray 2- place the can in the tray 3- place the can in the tray 4- place the can in the tray Q: immediate next step? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e","video":"8920098445590546629.mp4"}
+{"uid":"4079166238141719474","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put banana in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the fruits into the bowl. last 20 steps: 1- put orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put banana in the bowl 2- move fruit in the front of banana 3- put orange in the bowl 4- put fruit in the bowl 5- put pear in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput banana in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the fruits into the bowl Q: immediate next step? \u003cPRED\u003eA: put banana in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put banana in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the fruits into the bowl. last 20 steps: 1- put orange in the bowl Q: immediate next step? \u003cPRED\u003eA: put banana in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4419690246131825735.mp4"}
+{"uid":"7090748554053371334","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the cans into the tray Q: immediate next step? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the cans into the tray. last 20 steps: 1- place the can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the can in the tray 2- place the can in the tray 3- place the can in the tray 4- place the can in the tray 5- place the can in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the cans into the tray. last 20 steps: 1- place the can in the tray Q: immediate next step? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e","video":"12126451177539986239.mp4"}
+{"uid":"9393562918015087059","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nExit the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15156596583091362631.mp4"}
+{"uid":"9964728531675848736","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":"6704360677215996776.mp4"}
+{"uid":"6627942307049630301","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the cans into the tray. last 20 steps: 1- place the can in the tray 2- place the can in the tray 3- place the can in the tray 4- place the can in the tray 5- place the can in the tray 6- place the can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the can in the tray 2- place the can in the tray 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the cans into the tray. last 20 steps: 1- place the can in the tray 2- place the can in the tray 3- place the can in the tray 4- place the can in the tray 5- place the can in the tray 6- place the can in the tray Q: immediate next step? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the cans into the tray Q: immediate next step? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e","video":"5053863736295540396.mp4"}
+{"uid":"5744605512012692493","text":"\u003ctask:success:discrete:True\u003e\nThrow in the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Throw in the dustbin\n\u003c/PRED\u003e","video":"10501908085598308561.mp4"}
+{"uid":"3079768928276321415","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput scoop in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8058386816859829582.mp4"}
+{"uid":"223457383135907098","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16564289391035543485.mp4"}
+{"uid":"3872294397207720203","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put fruit in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput fruit in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the fruits into the bowl. last 20 steps: 1- put orange in the bowl 2- put banana in the bowl 3- move fruit in the front of banana 4- put orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put fruit in the bowl 2- put pear in the bowl 3- put banana in the bowl 4- put orange in the bowl 5- put watermelon in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the fruits into the bowl Q: immediate next step? \u003cPRED\u003eA: put fruit in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput fruit in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the fruits into the bowl. last 20 steps: 1- put orange in the bowl 2- put banana in the bowl 3- move fruit in the front of banana 4- put orange in the bowl Q: immediate next step? \u003cPRED\u003eA: put fruit in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put fruit in the bowl\n\u003c/PRED\u003e","video":"1802578351663108474.mp4"}
+{"uid":"1530247241280566210","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":"15369675548760875161.mp4"}
+{"uid":"662185687500494634","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the left stack in 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":"9777401743898530734.mp4"}
+{"uid":"2466734353130154042","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput white packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13795037523168107592.mp4"}
+{"uid":"9473553905865451334","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the cans into the tray. last 20 steps: 1- place the can in the tray 2- place the can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the can in the tray 2- place the can in the tray 3- place the can in the tray 4- place the can in the tray 5- place the can in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the cans into the tray Q: immediate next step? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the cans into the tray. last 20 steps: 1- place the can in the tray 2- place the can in the tray Q: immediate next step? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e","video":"8273142170554164576.mp4"}
+{"uid":"3031440874657039693","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the cloth 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":"4985324426069340804.mp4"}
+{"uid":"9966878668494341901","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: Can you throw trash from my desk and get me a sanitizer from printer room to my desk Q: immediate next step? \u003cPRED\u003eA: Leave the room\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Leave the room\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you throw trash from my desk and get me a sanitizer from printer room to my desk. last 20 steps: 1- Pick the pink wraper Q: immediate next step? \u003cPRED\u003eA: Leave the room\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you throw trash from my desk and get me a sanitizer from printer room to my desk. last 20 steps: 1- Pick the pink wraper Q: next 5 steps? \u003cPRED\u003eA: 1- Leave the room 2- Throw in the dustbin 3- Exit the room 4- Pick the sanitizer bottle from the table 5- Place the bottle on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nLeave the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nLeave the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11573066283084060735.mp4"}
+{"uid":"9999394438332046464","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"15102417851103316023.mp4"}
+{"uid":"3632544809401890013","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick the pink wraper\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick the pink wraper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2277484599009358374.mp4"}
+{"uid":"11408223595840953687","text":"\u003ctask:success:discrete:True\u003e\nPick the sanitizer 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 sanitizer bottle from the table\n\u003c/PRED\u003e","video":"8831686352328942733.mp4"}
+{"uid":"2224156602250409272","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put fork in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput fork in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13708764633449807863.mp4"}
+{"uid":"985405970734980731","text":"\u003ctask:success:discrete:False\u003e\nput paper cup in the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput paper cup in the dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put paper cup in the dustbin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the utensils and put it in the cup. then throw out the banana peel and napkins. last 20 steps: 1- put fork in the glass 2- pick up the banana peel 3- put banana peel in the dustbin 4- pick up the paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- put paper cup in the dustbin 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put paper cup in the dustbin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the utensils and put it in the cup. then throw out the banana peel and napkins. last 20 steps: 1- put fork in the glass 2- pick up the banana peel 3- put banana peel in the dustbin 4- pick up the paper cup Q: immediate next step? \u003cPRED\u003eA: put paper cup in the dustbin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up the utensils and put it in the cup. then throw out the banana peel and napkins. Q: immediate next step? \u003cPRED\u003eA: put paper cup in the dustbin\n\u003c/PRED\u003e","video":"10647793682403367252.mp4"}
+{"uid":"16654079453287230338","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the orange 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":"4978427893972746494.mp4"}
+{"uid":"10557087633993194408","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you throw trash from my desk and get me a sanitizer from printer room to my desk Q: immediate next step? \u003cPRED\u003eA: Pick the sanitizer bottle from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick the sanitizer bottle from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you throw trash from my desk and get me a sanitizer from printer room to my desk. last 20 steps: 1- Pick the pink wraper 2- Leave the room 3- Throw in the dustbin 4- Exit the room Q: immediate next step? \u003cPRED\u003eA: Pick the sanitizer bottle from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you throw trash from my desk and get me a sanitizer from printer room to my desk. last 20 steps: 1- Pick the pink wraper 2- Leave the room 3- Throw in the dustbin 4- Exit the room Q: next 5 steps? \u003cPRED\u003eA: 1- Pick the sanitizer bottle from the table 2- Place the bottle on the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick the sanitizer 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 sanitizer bottle from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick the sanitizer 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","video":"9507528779390611153.mp4"}
+{"uid":"4162573071218871397","text":"\u003ctask:success:discrete:False\u003e\nput apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the fruits into the bowl. last 20 steps: 1- put orange in the bowl 2- put banana in the bowl 3- move fruit in the front of banana 4- put orange in the bowl 5- put fruit in the bowl 6- put pear in the bowl 7- put banana in the bowl 8- put orange in the bowl 9- put watermelon in the bowl Q: immediate next step? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the fruits into the bowl. last 20 steps: 1- put orange in the bowl 2- put banana in the bowl 3- move fruit in the front of banana 4- put orange in the bowl 5- put fruit in the bowl 6- put pear in the bowl 7- put banana in the bowl 8- put orange in the bowl 9- put watermelon in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put apple in the bowl 2- put banana in the bowl 3- put banana 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 apple in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the fruits into the bowl Q: immediate next step? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4622511978107621817.mp4"}
+{"uid":"6419265324060408519","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the cans into the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the can in the tray 2- place the can in the tray 3- place the can in the tray 4- place the can in the tray 5- place the can in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the cans into the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the cans into the tray Q: immediate next step? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e","video":"12582872492717603643.mp4"}
+{"uid":"2751915537872086541","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":"11569650966542067086.mp4"}
+{"uid":"2870815498818239814","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the bottle on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the bottle on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you throw trash from my desk and get me a sanitizer from printer room to my desk. last 20 steps: 1- Pick the pink wraper 2- Leave the room 3- Throw in the dustbin 4- Exit the room 5- Pick the sanitizer bottle from the table Q: immediate next step? \u003cPRED\u003eA: Place the bottle on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you throw trash from my desk and get me a sanitizer from printer room to my desk Q: immediate next step? \u003cPRED\u003eA: Place the bottle on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the bottle on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you throw trash from my desk and get me a sanitizer from printer room to my desk. last 20 steps: 1- Pick the pink wraper 2- Leave the room 3- Throw in the dustbin 4- Exit the room 5- Pick the sanitizer bottle from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the bottle on the table 2- done\n\u003c/PRED\u003e","video":"11879127568464936350.mp4"}
+{"uid":"16472503525388273866","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace an apple 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":"10774681512565560976.mp4"}
+{"uid":"16622799074109661512","text":"\u003ctask:success:discrete:True\u003e\nLeave the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Leave the room\n\u003c/PRED\u003e","video":"1691132200040586220.mp4"}
+{"uid":"4492148661710157624","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the orange cable Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14229356277446316343.mp4"}
+{"uid":"4541445158261828625","text":"\u003ctask:success:discrete:True\u003e\nput watermelon 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 watermelon in the bowl\n\u003c/PRED\u003e","video":"4048407736937955972.mp4"}
+{"uid":"14084422374874145837","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":"15498283402359167287.mp4"}
+{"uid":"7460380785354971198","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the plastic fork 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":"5114523392949090726.mp4"}
+{"uid":"2700805612493196373","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Throw in the dustbin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you throw trash from my desk and get me a sanitizer from printer room to my desk Q: immediate next step? \u003cPRED\u003eA: Throw in the dustbin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you throw trash from my desk and get me a sanitizer from printer room to my desk. last 20 steps: 1- Pick the pink wraper 2- Leave the room Q: immediate next step? \u003cPRED\u003eA: Throw in the dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nThrow in the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you throw trash from my desk and get me a sanitizer from printer room to my desk. last 20 steps: 1- Pick the pink wraper 2- Leave the room Q: next 5 steps? \u003cPRED\u003eA: 1- Throw in the dustbin 2- Exit the room 3- Pick the sanitizer bottle from the table 4- Place the bottle on the table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Throw in the dustbin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nThrow in the dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3216993354930044536.mp4"}
+{"uid":"12326357634862495455","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nExit the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you throw trash from my desk and get me a sanitizer from printer room to my desk. last 20 steps: 1- Pick the pink wraper 2- Leave the room 3- Throw in the dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- Exit the room 2- Pick the sanitizer bottle from the table 3- Place the bottle on the table 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nExit the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you throw trash from my desk and get me a sanitizer from printer room to my desk 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you throw trash from my desk and get me a sanitizer from printer room to my desk. last 20 steps: 1- Pick the pink wraper 2- Leave the room 3- Throw in the dustbin Q: immediate next step? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e","video":"3705670873888640822.mp4"}
+{"uid":"8055620762424658541","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":"14634733999066019772.mp4"}
+{"uid":"16158097732028446791","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the fruits into the bowl Q: immediate next step? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the fruits into the bowl. last 20 steps: 1- put orange in the bowl 2- put banana in the bowl 3- move fruit in the front of banana 4- put orange in the bowl 5- put fruit in the bowl 6- put pear in the bowl 7- put banana in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put orange in the bowl 2- put watermelon in the bowl 3- put apple in the bowl 4- put banana in the bowl 5- put banana in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the fruits into the bowl. last 20 steps: 1- put orange in the bowl 2- put banana in the bowl 3- move fruit in the front of banana 4- put orange in the bowl 5- put fruit in the bowl 6- put pear in the bowl 7- put banana in the bowl Q: immediate next step? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e","video":"3256308724030717038.mp4"}
+{"uid":"14246447202600955082","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put banana in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the fruits into the bowl. last 20 steps: 1- put orange in the bowl 2- put banana in the bowl 3- move fruit in the front of banana 4- put orange in the bowl 5- put fruit in the bowl 6- put pear in the bowl 7- put banana in the bowl 8- put orange in the bowl 9- put watermelon in the bowl 10- put apple in the bowl Q: immediate next step? \u003cPRED\u003eA: put banana in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the fruits into the bowl Q: immediate next step? \u003cPRED\u003eA: put banana in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put banana in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the fruits into the bowl. last 20 steps: 1- put orange in the bowl 2- put banana in the bowl 3- move fruit in the front of banana 4- put orange in the bowl 5- put fruit in the bowl 6- put pear in the bowl 7- put banana in the bowl 8- put orange in the bowl 9- put watermelon in the bowl 10- put apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put banana in the bowl 2- put banana in the bowl 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput banana in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3309511372309400489.mp4"}
+{"uid":"17684623311850191540","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the cans into the tray. last 20 steps: 1- place the can in the tray 2- place the can in the tray 3- place the can in the tray 4- place the can in the tray 5- place the can in the tray 6- place the can in the tray 7- place the can in the tray Q: immediate next step? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the cans into the tray Q: immediate next step? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the cans into the tray. last 20 steps: 1- place the can in the tray 2- place the can in the tray 3- place the can in the tray 4- place the can in the tray 5- place the can in the tray 6- place the can in the tray 7- place the can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the can in the tray 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6383384351600712332.mp4"}
+{"uid":"1167524541320948341","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput brown packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray. last 20 steps: 1- put brown packet on the table 2- put brown packet on the table 3- put brown packet on the table 4- put brown packet on the table Q: immediate next step? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray. last 20 steps: 1- put brown packet on the table 2- put brown packet on the table 3- put brown packet on the table 4- put brown packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put brown packet on the table 2- put brown packet on the table 3- put brown packet on the table 4- put blue packet on the table 5- put blue packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray Q: immediate next step? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e","video":"11357096295207876196.mp4"}
+{"uid":"1894112148856609737","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the fruits from the bowl. last 20 steps: 1- Put the orange on the table 2- Put the apple on the table 3- Put the apple on the table 4- Put the bunch of grapes on the table 5- Put the orange on the table 6- Put the apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange on the table 2- Put the orange on the table 3- Put the banana on the table 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: Put the orange on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the orange on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the fruits from the bowl. last 20 steps: 1- Put the orange on the table 2- Put the apple on the table 3- Put the apple on the table 4- Put the bunch of grapes on the table 5- Put the orange on the table 6- Put the apple on the table Q: immediate next step? \u003cPRED\u003eA: Put the orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange on the table\n\u003c/PRED\u003e","video":"8071963906301404633.mp4"}
+{"uid":"11422734798024621766","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the blue 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":"13832009049459497685.mp4"}
+{"uid":"1725765402373834105","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the battery in the board Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12954921561063254770.mp4"}
+{"uid":"4067244732152377206","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the popcorn packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13201716471487825808.mp4"}
+{"uid":"11706768037681819099","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"15978002274154203494.mp4"}
+{"uid":"6425933359408409455","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray Q: immediate next step? \u003cPRED\u003eA: put blue packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray. last 20 steps: 1- put brown packet on the table 2- put brown packet on the table 3- put brown packet on the table 4- put brown packet on the table 5- put brown packet on the table 6- put brown packet on the table 7- put brown packet on the table 8- put blue packet on the table 9- put blue packet on the table 10- put blue packets on the table 11- put blue packets on the table 12- put blue packets on the table Q: immediate next step? \u003cPRED\u003eA: put blue packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput blue packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray. last 20 steps: 1- put brown packet on the table 2- put brown packet on the table 3- put brown packet on the table 4- put brown packet on the table 5- put brown packet on the table 6- put brown packet on the table 7- put brown packet on the table 8- put blue packet on the table 9- put blue packet on the table 10- put blue packets on the table 11- put blue packets on the table 12- put blue packets on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put blue packet on the table 2- put blue packet on the table 3- put blue packet on the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue packet on the table\n\u003c/PRED\u003e","video":"3256202294945944470.mp4"}
+{"uid":"5834196144851972804","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the bunch of grapes on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the fruits from the bowl. last 20 steps: 1- Put the orange on the table 2- Put the apple on the table 3- Put the apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the bunch of grapes on the table 2- Put the orange on the table 3- Put the apple on the table 4- Put the orange on the table 5- Put the orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the bunch of grapes on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the bunch of grapes on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: Put the bunch of grapes on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the bunch of grapes on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the fruits from the bowl. last 20 steps: 1- Put the orange on the table 2- Put the apple on the table 3- Put the apple on the table Q: immediate next step? \u003cPRED\u003eA: Put the bunch of grapes on the table\n\u003c/PRED\u003e","video":"13102250529746356521.mp4"}
+{"uid":"10179552321127081872","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput up the green 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":"3577648385293065112.mp4"}
+{"uid":"17742755221248303048","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the stick 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":"4780803349326177001.mp4"}
+{"uid":"15255157938080402274","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray Q: immediate next step? \u003cPRED\u003eA: put blue packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray. last 20 steps: 1- put brown packet on the table 2- put brown packet on the table 3- put brown packet on the table 4- put brown packet on the table 5- put brown packet on the table 6- put brown packet on the table 7- put brown packet on the table 8- put blue packet on the table 9- put blue packet on the table 10- put blue packets on the table 11- put blue packets on the table 12- put blue packets on the table 13- put blue packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put blue packet on the table 2- put blue packet on the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray. last 20 steps: 1- put brown packet on the table 2- put brown packet on the table 3- put brown packet on the table 4- put brown packet on the table 5- put brown packet on the table 6- put brown packet on the table 7- put brown packet on the table 8- put blue packet on the table 9- put blue packet on the table 10- put blue packets on the table 11- put blue packets on the table 12- put blue packets on the table 13- put blue packet on the table Q: immediate next step? \u003cPRED\u003eA: put blue packet on the table\n\u003c/PRED\u003e","video":"16829095554047965236.mp4"}
+{"uid":"11757878039305939273","text":"\u003ctask:success:discrete:True\u003e\nPut the bunch of grapes on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the bunch of grapes on the table\n\u003c/PRED\u003e","video":"7263254000449637754.mp4"}
+{"uid":"17285685616040146940","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray Q: immediate next step? \u003cPRED\u003eA: put blue packets on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue packets on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue packets on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray. last 20 steps: 1- put brown packet on the table 2- put brown packet on the table 3- put brown packet on the table 4- put brown packet on the table 5- put brown packet on the table 6- put brown packet on the table 7- put brown packet on the table 8- put blue packet on the table 9- put blue packet on the table 10- put blue packets on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put blue packets on the table 2- put blue packets on the table 3- put blue packet on the table 4- put blue packet on the table 5- put blue packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue packets on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray. last 20 steps: 1- put brown packet on the table 2- put brown packet on the table 3- put brown packet on the table 4- put brown packet on the table 5- put brown packet on the table 6- put brown packet on the table 7- put brown packet on the table 8- put blue packet on the table 9- put blue packet on the table 10- put blue packets on the table Q: immediate next step? \u003cPRED\u003eA: put blue packets on the table\n\u003c/PRED\u003e","video":"13806937642951346839.mp4"}
+{"uid":"14053770939874026733","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput blue packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray Q: immediate next step? \u003cPRED\u003eA: put blue packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray. last 20 steps: 1- put brown packet on the table 2- put brown packet on the table 3- put brown packet on the table 4- put brown packet on the table 5- put brown packet on the table 6- put brown packet on the table 7- put brown packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put blue packet on the table 2- put blue packet on the table 3- put blue packets on the table 4- put blue packets on the table 5- put blue packets on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray. last 20 steps: 1- put brown packet on the table 2- put brown packet on the table 3- put brown packet on the table 4- put brown packet on the table 5- put brown packet on the table 6- put brown packet on the table 7- put brown packet on the table Q: immediate next step? \u003cPRED\u003eA: put blue packet on the table\n\u003c/PRED\u003e","video":"1190840293485427211.mp4"}
+{"uid":"9637705053170590467","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray Q: immediate next step? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray. last 20 steps: 1- put brown packet on the table 2- put brown packet on the table 3- put brown packet on the table Q: immediate next step? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput brown packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray. last 20 steps: 1- put brown packet on the table 2- put brown packet on the table 3- put brown packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put brown packet on the table 2- put brown packet on the table 3- put brown packet on the table 4- put brown packet on the table 5- put blue packet on the table\n\u003c/PRED\u003e","video":"6358434353761334875.mp4"}
+{"uid":"1710830453566145259","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet on the Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14073707052705382340.mp4"}
+{"uid":"18228241166797998127","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the Alphabet tiles in the bag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6816650841077996605.mp4"}
+{"uid":"3615513775388609869","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the fruits from the bowl. last 20 steps: 1- Put the orange on the table 2- Put the apple on the table 3- Put the apple on the table 4- Put the bunch of grapes on the table 5- Put the orange on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the apple on the table 2- Put the orange on the table 3- Put the orange on the table 4- Put the banana on the table 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the apple on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the fruits from the bowl. last 20 steps: 1- Put the orange on the table 2- Put the apple on the table 3- Put the apple on the table 4- Put the bunch of grapes on the table 5- Put the orange on the table Q: immediate next step? \u003cPRED\u003eA: Put the apple on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: Put the apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the apple on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15993542936962147944.mp4"}
+{"uid":"4904445752380117012","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut brown 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":"13548546260214053897.mp4"}
+{"uid":"2863266913843026083","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray. last 20 steps: 1- put brown packet on the table 2- put brown packet on the table 3- put brown packet on the table 4- put brown packet on the table 5- put brown packet on the table 6- put brown packet on the table 7- put brown packet on the table 8- put blue packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put blue packet on the table 2- put blue packets on the table 3- put blue packets on the table 4- put blue packets on the table 5- put blue packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray. last 20 steps: 1- put brown packet on the table 2- put brown packet on the table 3- put brown packet on the table 4- put brown packet on the table 5- put brown packet on the table 6- put brown packet on the table 7- put brown packet on the table 8- put blue packet on the table Q: immediate next step? \u003cPRED\u003eA: put blue packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray Q: immediate next step? \u003cPRED\u003eA: put blue packet on the table\n\u003c/PRED\u003e","video":"647875334903012129.mp4"}
+{"uid":"2059601589341010252","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray. last 20 steps: 1- put brown packet on the table 2- put brown packet on the table Q: immediate next step? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray Q: immediate next step? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput brown packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray. last 20 steps: 1- put brown packet on the table 2- put brown packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put brown packet on the table 2- put brown packet on the table 3- put brown packet on the table 4- put brown packet on the table 5- put brown packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e","video":"16329993934362459748.mp4"}
+{"uid":"146670825820178390","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nadjust 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":"2377221722206808566.mp4"}
+{"uid":"16565494518352708372","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":"16101307597904858085.mp4"}
+{"uid":"12739805694579702666","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray. last 20 steps: 1- put brown packet on the table 2- put brown packet on the table 3- put brown packet on the table 4- put brown packet on the table 5- put brown packet on the table 6- put brown packet on the table Q: immediate next step? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput brown packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray Q: immediate next step? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray. last 20 steps: 1- put brown packet on the table 2- put brown packet on the table 3- put brown packet on the table 4- put brown packet on the table 5- put brown packet on the table 6- put brown packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put brown packet on the table 2- put blue packet on the table 3- put blue packet on the table 4- put blue packets on the table 5- put blue packets on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e","video":"18041215406967473450.mp4"}
+{"uid":"11505311823138033168","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":"11633541212275353218.mp4"}
+{"uid":"15858644362517442114","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray. last 20 steps: 1- put brown packet on the table 2- put brown packet on the table 3- put brown packet on the table 4- put brown packet on the table 5- put brown packet on the table 6- put brown packet on the table 7- put brown packet on the table 8- put blue packet on the table 9- put blue packet on the table 10- put blue packets on the table 11- put blue packets on the table 12- put blue packets on the table 13- put blue packet on the table 14- put blue packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put blue packet on the table 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray. last 20 steps: 1- put brown packet on the table 2- put brown packet on the table 3- put brown packet on the table 4- put brown packet on the table 5- put brown packet on the table 6- put brown packet on the table 7- put brown packet on the table 8- put blue packet on the table 9- put blue packet on the table 10- put blue packets on the table 11- put blue packets on the table 12- put blue packets on the table 13- put blue packet on the table 14- put blue packet on the table Q: immediate next step? \u003cPRED\u003eA: put blue packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray Q: immediate next step? \u003cPRED\u003eA: put blue packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue packet on the table\n\u003c/PRED\u003e","video":"4583463742250445128.mp4"}
+{"uid":"334646206682913874","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the black book 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":"11650305331603887732.mp4"}
+{"uid":"16361513233289798238","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nOpen the right sheet of the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18065909615293878759.mp4"}
+{"uid":"5496487045942068300","text":"\u003ctask:success:discrete:True\u003e\nPut the apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the apple on the table\n\u003c/PRED\u003e","video":"5580880888180939815.mp4"}
+{"uid":"17687812602652099621","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the cube 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":"18221435672602995103.mp4"}
+{"uid":"18312118553850414111","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue packets on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray. last 20 steps: 1- put brown packet on the table 2- put brown packet on the table 3- put brown packet on the table 4- put brown packet on the table 5- put brown packet on the table 6- put brown packet on the table 7- put brown packet on the table 8- put blue packet on the table 9- put blue packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put blue packets on the table 2- put blue packets on the table 3- put blue packets on the table 4- put blue packet on the table 5- put blue packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray Q: immediate next step? \u003cPRED\u003eA: put blue packets on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue packets on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray. last 20 steps: 1- put brown packet on the table 2- put brown packet on the table 3- put brown packet on the table 4- put brown packet on the table 5- put brown packet on the table 6- put brown packet on the table 7- put brown packet on the table 8- put blue packet on the table 9- put blue packet on the table Q: immediate next step? \u003cPRED\u003eA: put blue packets on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue packets on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput blue packets on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16961709477413637134.mp4"}
+{"uid":"6926086170748047822","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the fruits from the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the orange on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the fruits from the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange on the table 2- Put the apple on the table 3- Put the apple on the table 4- Put the bunch of grapes on the table 5- Put the orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: Put the orange on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the orange on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17102845442632592517.mp4"}
+{"uid":"11696830391220519076","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray. last 20 steps: 1- put brown packet on the table 2- put brown packet on the table 3- put brown packet on the table 4- put brown packet on the table 5- put brown packet on the table Q: immediate next step? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput brown packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray Q: immediate next step? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray. last 20 steps: 1- put brown packet on the table 2- put brown packet on the table 3- put brown packet on the table 4- put brown packet on the table 5- put brown packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put brown packet on the table 2- put brown packet on the table 3- put blue packet on the table 4- put blue packet on the table 5- put blue packets on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e","video":"7927736847896965184.mp4"}
+{"uid":"396729952498602829","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: Put the orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the orange on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the fruits from the bowl. last 20 steps: 1- Put the orange on the table 2- Put the apple on the table 3- Put the apple on the table 4- Put the bunch of grapes on the table Q: immediate next step? \u003cPRED\u003eA: Put the orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the fruits from the bowl. last 20 steps: 1- Put the orange on the table 2- Put the apple on the table 3- Put the apple on the table 4- Put the bunch of grapes on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange on the table 2- Put the apple on the table 3- Put the orange on the table 4- Put the orange on the table 5- Put the banana on the table\n\u003c/PRED\u003e","video":"15392934439143434751.mp4"}
+{"uid":"1148687597972265697","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the fruits from the bowl. last 20 steps: 1- Put the orange on the table 2- Put the apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the apple on the table 2- Put the bunch of grapes on the table 3- Put the orange on the table 4- Put the apple on the table 5- Put the orange on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the fruits from the bowl. last 20 steps: 1- Put the orange on the table 2- Put the apple on the table Q: immediate next step? \u003cPRED\u003eA: Put the apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the apple on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the apple on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: Put the apple on the table\n\u003c/PRED\u003e","video":"15120646930601116872.mp4"}
+{"uid":"15743572808413805875","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the white packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17562266727273390627.mp4"}
+{"uid":"14234955154102385795","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the banana on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the banana on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: Put the banana on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the fruits from the bowl. last 20 steps: 1- Put the orange on the table 2- Put the apple on the table 3- Put the apple on the table 4- Put the bunch of grapes on the table 5- Put the orange on the table 6- Put the apple on the table 7- Put the orange on the table 8- Put the orange on the table Q: immediate next step? \u003cPRED\u003eA: Put the banana on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the banana on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the fruits from the bowl. last 20 steps: 1- Put the orange on the table 2- Put the apple on the table 3- Put the apple on the table 4- Put the bunch of grapes on the table 5- Put the orange on the table 6- Put the apple on the table 7- Put the orange on the table 8- Put the orange on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the banana on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the banana on the table\n\u003c/PRED\u003e","video":"7066895317705406046.mp4"}
+{"uid":"14092087015948583994","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray Q: immediate next step? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput brown packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray. last 20 steps: 1- put brown packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put brown packet on the table 2- put brown packet on the table 3- put brown packet on the table 4- put brown packet on the table 5- put brown packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray. last 20 steps: 1- put brown packet on the table Q: immediate next step? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e","video":"272365248302148424.mp4"}
+{"uid":"15429120251280864671","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop sugar candy into the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8296719637090629006.mp4"}
+{"uid":"12238350361066969654","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the fruits from the bowl. last 20 steps: 1- Put the orange on the table 2- Put the apple on the table 3- Put the apple on the table 4- Put the bunch of grapes on the table 5- Put the orange on the table 6- Put the apple on the table 7- Put the orange on the table 8- Put the orange on the table 9- Put the banana on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the fruits from the bowl. last 20 steps: 1- Put the orange on the table 2- Put the apple on the table 3- Put the apple on the table 4- Put the bunch of grapes on the table 5- Put the orange on the table 6- Put the apple on the table 7- Put the orange on the table 8- Put the orange on the table 9- Put the banana on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the banana on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the banana on the table\n\u003c/PRED\u003e","video":"5957291215142097918.mp4"}
+{"uid":"4983032611867835891","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the orange on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the orange on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5108518820013666631.mp4"}
+{"uid":"7282677146793333864","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace 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":"5969736950080565276.mp4"}
+{"uid":"10074294338610159064","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the lid on the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14249966250157441518.mp4"}
+{"uid":"14806775286138277752","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the bottle from the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11157826583203520426.mp4"}
+{"uid":"17279576153501575466","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput yellow 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":"5927717137340253282.mp4"}
+{"uid":"6273369781673230585","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: Put the apple on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the fruits from the bowl. last 20 steps: 1- Put the orange on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the apple on the table 2- Put the apple on the table 3- Put the bunch of grapes on the table 4- Put the orange on the table 5- Put the apple on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the fruits from the bowl. last 20 steps: 1- Put the orange on the table Q: immediate next step? \u003cPRED\u003eA: Put the apple on the table\n\u003c/PRED\u003e","video":"15324502619147576950.mp4"}
+{"uid":"11777146290809267270","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the wrapper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5423748133114661518.mp4"}
+{"uid":"8553780075096862891","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pink toffee 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":"5239779296056892457.mp4"}
+{"uid":"18199512101794542825","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue packets on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray. last 20 steps: 1- put brown packet on the table 2- put brown packet on the table 3- put brown packet on the table 4- put brown packet on the table 5- put brown packet on the table 6- put brown packet on the table 7- put brown packet on the table 8- put blue packet on the table 9- put blue packet on the table 10- put blue packets on the table 11- put blue packets on the table Q: immediate next step? \u003cPRED\u003eA: put blue packets on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue packets on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray. last 20 steps: 1- put brown packet on the table 2- put brown packet on the table 3- put brown packet on the table 4- put brown packet on the table 5- put brown packet on the table 6- put brown packet on the table 7- put brown packet on the table 8- put blue packet on the table 9- put blue packet on the table 10- put blue packets on the table 11- put blue packets on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put blue packets on the table 2- put blue packet on the table 3- put blue packet on the table 4- put blue packet on the table 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray Q: immediate next step? \u003cPRED\u003eA: put blue packets on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue packets on the table\n\u003c/PRED\u003e","video":"8113682691701384767.mp4"}
+{"uid":"2487315837906179213","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the fruits from the bowl. last 20 steps: 1- Put the orange on the table 2- Put the apple on the table 3- Put the apple on the table 4- Put the bunch of grapes on the table 5- Put the orange on the table 6- Put the apple on the table 7- Put the orange on the table Q: immediate next step? \u003cPRED\u003eA: Put the orange on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: Put the orange on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the fruits from the bowl. last 20 steps: 1- Put the orange on the table 2- Put the apple on the table 3- Put the apple on the table 4- Put the bunch of grapes on the table 5- Put the orange on the table 6- Put the apple on the table 7- Put the orange on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange on the table 2- Put the banana on the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange on the table\n\u003c/PRED\u003e","video":"7896857216560598041.mp4"}
+{"uid":"13563579785497854395","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9014539130731560396.mp4"}
+{"uid":"8081384865985361352","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the box of white rose Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the box of white rose\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the box of white rose\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the box of white rose Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place 4 boxes of numi tea into the bottom slots. Q: immediate next step? \u003cPRED\u003eA: Pick up the box of white rose\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place 4 boxes of numi tea into the bottom slots. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Pick up the box of white rose\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place 4 boxes of numi tea into the bottom slots. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the box of white rose 2- place box in the stand 3- pick up the tea box 4- place box in the stand 5- Put the box of breakfast blend backward\n\u003c/PRED\u003e","video":"5714871847663713153.mp4"}
+{"uid":"7028179164394148082","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\norganize the pink sugar 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":"5351526925040473973.mp4"}
+{"uid":"12365523883216641263","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nkeep marker in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5842708256952555244.mp4"}
+{"uid":"2788599207772958509","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white packet over the yellow 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":"7385399498103316364.mp4"}
+{"uid":"11344316831768250015","text":"\u003ctask:success:discrete:True\u003e\nplace box in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place box in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place 4 boxes of numi tea into the bottom slots. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place 4 boxes of numi tea into the bottom slots. last 20 steps: 1- pick up the tea box 2- place box in the stand 3- pick up the tea box 4- place box in the stand 5- Put the box of breakfast blend backward 6- pick up the tea box 7- place box in the stand 8- pick up the tea box 9- place box in the stand Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place 4 boxes of numi tea into the bottom slots. last 20 steps: 1- pick up the tea box 2- place box in the stand 3- pick up the tea box 4- place box in the stand 5- Put the box of breakfast blend backward 6- pick up the tea box 7- place box in the stand 8- pick up the tea box 9- place box in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"849084649736104575.mp4"}
+{"uid":"5856438613301072728","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace box in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place box in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place box in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace box in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place 4 boxes of numi tea into the bottom slots. Q: immediate next step? \u003cPRED\u003eA: place box in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place 4 boxes of numi tea into the bottom slots. last 20 steps: 1- pick up the tea box 2- place box in the stand 3- pick up the tea box 4- place box in the stand 5- Put the box of breakfast blend backward 6- pick up the tea box 7- place box in the stand Q: immediate next step? \u003cPRED\u003eA: place box in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place 4 boxes of numi tea into the bottom slots. last 20 steps: 1- pick up the tea box 2- place box in the stand 3- pick up the tea box 4- place box in the stand 5- Put the box of breakfast blend backward 6- pick up the tea box 7- place box in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- place box in the stand 2- place box in the stand 3- done\n\u003c/PRED\u003e","video":"5155235924062266151.mp4"}
+{"uid":"9093388444820014743","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sanitizer bottle into the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17461176067095271160.mp4"}
+{"uid":"17013793442674732824","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace box in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place box in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place box in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace box in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place 4 boxes of numi tea into the bottom slots. Q: immediate next step? \u003cPRED\u003eA: place box in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place 4 boxes of numi tea into the bottom slots. last 20 steps: 1- pick up the tea box Q: immediate next step? \u003cPRED\u003eA: place box in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place 4 boxes of numi tea into the bottom slots. last 20 steps: 1- pick up the tea box Q: next 5 steps? \u003cPRED\u003eA: 1- place box in the stand 2- pick up the tea box 3- place box in the stand 4- Put the box of breakfast blend backward 5- pick up the tea box\n\u003c/PRED\u003e","video":"12565673202592637797.mp4"}
+{"uid":"7775170112795247206","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nUnstack 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":"12928558711643017634.mp4"}
+{"uid":"11943008005603885385","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the tea 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: pick up the tea box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the tea box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the tea 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: place 4 boxes of numi tea into the bottom slots. Q: immediate next step? \u003cPRED\u003eA: pick up the tea box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place 4 boxes of numi tea into the bottom slots. last 20 steps: 1- pick up the tea box 2- place box in the stand 3- pick up the tea box 4- place box in the stand 5- Put the box of breakfast blend backward Q: immediate next step? \u003cPRED\u003eA: pick up the tea box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place 4 boxes of numi tea into the bottom slots. last 20 steps: 1- pick up the tea box 2- place box in the stand 3- pick up the tea box 4- place box in the stand 5- Put the box of breakfast blend backward Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the tea box 2- place box in the stand 3- pick up the tea box 4- place box in the stand 5- done\n\u003c/PRED\u003e","video":"13821930806913596656.mp4"}
+{"uid":"4052058053434272850","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace box in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place box in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place box in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace box in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place 4 boxes of numi tea into the bottom slots. Q: immediate next step? \u003cPRED\u003eA: place box in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place 4 boxes of numi tea into the bottom slots. last 20 steps: 1- pick up the tea box 2- place box in the stand 3- pick up the tea box 4- place box in the stand 5- Put the box of breakfast blend backward 6- pick up the tea box 7- place box in the stand 8- pick up the tea box Q: immediate next step? \u003cPRED\u003eA: place box in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place 4 boxes of numi tea into the bottom slots. last 20 steps: 1- pick up the tea box 2- place box in the stand 3- pick up the tea box 4- place box in the stand 5- Put the box of breakfast blend backward 6- pick up the tea box 7- place box in the stand 8- pick up the tea box Q: next 5 steps? \u003cPRED\u003eA: 1- place box in the stand 2- done\n\u003c/PRED\u003e","video":"5985009336197028268.mp4"}
+{"uid":"13701173159538680854","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":"16134058171807146052.mp4"}
+{"uid":"17401646329892526640","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the tea 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: pick up the tea box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the tea box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the tea 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: place 4 boxes of numi tea into the bottom slots. Q: immediate next step? \u003cPRED\u003eA: pick up the tea box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place 4 boxes of numi tea into the bottom slots. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick up the tea box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place 4 boxes of numi tea into the bottom slots. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the tea box 2- place box in the stand 3- pick up the tea box 4- place box in the stand 5- Put the box of breakfast blend backward\n\u003c/PRED\u003e","video":"16338932273934328529.mp4"}
+{"uid":"7949119111632884619","text":"\u003ctask:success:discrete:True\u003e\nplace box in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place box in the stand\n\u003c/PRED\u003e","video":"8093218703085656877.mp4"}
+{"uid":"12741886093637190033","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick up box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place 4 boxes of numi tea into the bottom slots. Q: immediate next step? \u003cPRED\u003eA: pick up box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place 4 boxes of numi tea into the bottom slots. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick up box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place 4 boxes of numi tea into the bottom slots. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up box 2- place box in the stand 3- pick up the tea box 4- place box in the stand 5- Put the box of breakfast blend backward\n\u003c/PRED\u003e","video":"14437376277550890692.mp4"}
+{"uid":"3186938658940537286","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the tea 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: pick up the tea box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the tea box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the tea 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: place 4 boxes of numi tea into the bottom slots. Q: immediate next step? \u003cPRED\u003eA: pick up the tea box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place 4 boxes of numi tea into the bottom slots. last 20 steps: 1- pick up the tea box 2- place box in the stand Q: immediate next step? \u003cPRED\u003eA: pick up the tea box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place 4 boxes of numi tea into the bottom slots. last 20 steps: 1- pick up the tea box 2- place box in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the tea box 2- place box in the stand 3- Put the box of breakfast blend backward 4- pick up the tea box 5- place box in the stand\n\u003c/PRED\u003e","video":"4492027310100807914.mp4"}
+{"uid":"8732681560192052963","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick up box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place 4 boxes of numi tea into the bottom slots. Q: immediate next step? \u003cPRED\u003eA: pick up box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place 4 boxes of numi tea into the bottom slots. last 20 steps: 1- pick up the tea box 2- place box in the stand Q: immediate next step? \u003cPRED\u003eA: pick up box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place 4 boxes of numi tea into the bottom slots. last 20 steps: 1- pick up the tea box 2- place box in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- pick up box 2- place box in the stand 3- Put the box of breakfast blend backward 4- pick up the tea box 5- place box in the stand\n\u003c/PRED\u003e","video":"5081829337762436814.mp4"}
+{"uid":"11114507785895315769","text":"\u003ctask:success:discrete:True\u003e\nPut the box in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the box in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place 4 boxes of numi tea into the bottom slots. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place 4 boxes of numi tea into the bottom slots. last 20 steps: 1- pick up the tea box 2- place box in the stand 3- pick up the tea box 4- place box in the stand 5- Put the box of breakfast blend backward 6- pick up the tea box 7- place box in the stand 8- Put the box in the stand Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place 4 boxes of numi tea into the bottom slots. last 20 steps: 1- pick up the tea box 2- place box in the stand 3- pick up the tea box 4- place box in the stand 5- Put the box of breakfast blend backward 6- pick up the tea box 7- place box in the stand 8- Put the box in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"1893762583569063406.mp4"}
+{"uid":"7629068680577343513","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick up box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place 4 boxes of numi tea into the bottom slots. Q: immediate next step? \u003cPRED\u003eA: pick up box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place 4 boxes of numi tea into the bottom slots. last 20 steps: 1- pick up the tea box 2- place box in the stand 3- pick up the tea box 4- place box in the stand 5- Put the box of breakfast blend backward Q: immediate next step? \u003cPRED\u003eA: pick up box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place 4 boxes of numi tea into the bottom slots. last 20 steps: 1- pick up the tea box 2- place box in the stand 3- pick up the tea box 4- place box in the stand 5- Put the box of breakfast blend backward Q: next 5 steps? \u003cPRED\u003eA: 1- pick up box 2- place box in the stand 3- pick up the tea box 4- place box in the stand 5- done\n\u003c/PRED\u003e","video":"9852238989370206122.mp4"}
+{"uid":"6412489826517402955","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3532289383548917881.mp4"}
+{"uid":"10801533748822732610","text":"\u003ctask:success:discrete:True\u003e\npick up the tea box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the tea box\n\u003c/PRED\u003e","video":"7390161994031652831.mp4"}
+{"uid":"3758233090880793523","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput tea box in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put tea box in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put tea box in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput tea box in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place 4 boxes of numi tea into the bottom slots. Q: immediate next step? \u003cPRED\u003eA: put tea box in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place 4 boxes of numi tea into the bottom slots. last 20 steps: 1- pick up the tea box 2- place box in the stand 3- pick up the tea box Q: immediate next step? \u003cPRED\u003eA: put tea box in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place 4 boxes of numi tea into the bottom slots. last 20 steps: 1- pick up the tea box 2- place box in the stand 3- pick up the tea box Q: next 5 steps? \u003cPRED\u003eA: 1- put tea box in the stand 2- Put the box of breakfast blend backward 3- pick up the tea box 4- place box in the stand 5- pick up the tea box\n\u003c/PRED\u003e","video":"4166315552307130270.mp4"}
+{"uid":"11569524933167008476","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":"5541612476571987195.mp4"}
+{"uid":"468279146441915767","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the box in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the box in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the box in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the box in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place 4 boxes of numi tea into the bottom slots. Q: immediate next step? \u003cPRED\u003eA: Put the box in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place 4 boxes of numi tea into the bottom slots. last 20 steps: 1- pick up the tea box 2- place box in the stand 3- pick up the tea box 4- place box in the stand 5- Put the box of breakfast blend backward 6- pick up the tea box 7- place box in the stand Q: immediate next step? \u003cPRED\u003eA: Put the box in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place 4 boxes of numi tea into the bottom slots. last 20 steps: 1- pick up the tea box 2- place box in the stand 3- pick up the tea box 4- place box in the stand 5- Put the box of breakfast blend backward 6- pick up the tea box 7- place box in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- Put the box in the stand 2- done\n\u003c/PRED\u003e","video":"12487089434101970842.mp4"}
+{"uid":"16659524633415672708","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput tea box in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put tea box in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put tea box in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput tea box in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place 4 boxes of numi tea into the bottom slots. Q: immediate next step? \u003cPRED\u003eA: put tea box in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place 4 boxes of numi tea into the bottom slots. last 20 steps: 1- pick up the tea box Q: immediate next step? \u003cPRED\u003eA: put tea box in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place 4 boxes of numi tea into the bottom slots. last 20 steps: 1- pick up the tea box Q: next 5 steps? \u003cPRED\u003eA: 1- put tea box in the stand 2- pick up the tea box 3- place box in the stand 4- Put the box of breakfast blend backward 5- pick up the tea box\n\u003c/PRED\u003e","video":"5661999933229594446.mp4"}
+{"uid":"5409831336704417758","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace an 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":"15950630726489138280.mp4"}
+{"uid":"14222601222166597405","text":"\u003ctask:success:discrete:True\u003e\nplace box in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place box in the stand\n\u003c/PRED\u003e","video":"6458768881623671630.mp4"}
+{"uid":"172504721553535126","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the tea 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: pick up the tea box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the tea box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the tea 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: place 4 boxes of numi tea into the bottom slots. Q: immediate next step? \u003cPRED\u003eA: pick up the tea box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place 4 boxes of numi tea into the bottom slots. last 20 steps: 1- pick up the tea box 2- place box in the stand 3- pick up the tea box 4- place box in the stand 5- Put the box of breakfast blend backward 6- pick up the tea box 7- place box in the stand Q: immediate next step? \u003cPRED\u003eA: pick up the tea box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place 4 boxes of numi tea into the bottom slots. last 20 steps: 1- pick up the tea box 2- place box in the stand 3- pick up the tea box 4- place box in the stand 5- Put the box of breakfast blend backward 6- pick up the tea box 7- place box in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the tea box 2- place box in the stand 3- done\n\u003c/PRED\u003e","video":"12787648956440300222.mp4"}
+{"uid":"4324555070452054798","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the box of gunpowder green Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the box of gunpowder green\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the box of gunpowder green\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the box of gunpowder green Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place 4 boxes of numi tea into the bottom slots. Q: immediate next step? \u003cPRED\u003eA: Pick up the box of gunpowder green\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place 4 boxes of numi tea into the bottom slots. last 20 steps: 1- pick up the tea box 2- place box in the stand Q: immediate next step? \u003cPRED\u003eA: Pick up the box of gunpowder green\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place 4 boxes of numi tea into the bottom slots. last 20 steps: 1- pick up the tea box 2- place box in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the box of gunpowder green 2- place box in the stand 3- Put the box of breakfast blend backward 4- pick up the tea box 5- place box in the stand\n\u003c/PRED\u003e","video":"13765809952654888708.mp4"}
+{"uid":"3148848560214327683","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the box of breakfast blend backward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the box of breakfast blend backward\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the box of breakfast blend backward\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the box of breakfast blend backward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place 4 boxes of numi tea into the bottom slots. Q: immediate next step? \u003cPRED\u003eA: Put the box of breakfast blend backward\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place 4 boxes of numi tea into the bottom slots. last 20 steps: 1- pick up the tea box 2- place box in the stand 3- pick up the tea box 4- place box in the stand Q: immediate next step? \u003cPRED\u003eA: Put the box of breakfast blend backward\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place 4 boxes of numi tea into the bottom slots. last 20 steps: 1- pick up the tea box 2- place box in the stand 3- pick up the tea box 4- place box in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- Put the box of breakfast blend backward 2- pick up the tea box 3- place box in the stand 4- pick up the tea box 5- place box in the stand\n\u003c/PRED\u003e","video":"13046444676534664050.mp4"}
+{"uid":"10594760373428509914","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose the lid of 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":"7061297653410339832.mp4"}
+{"uid":"5719914356977252932","text":"\u003ctask:success:discrete:True\u003e\nput tea box in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put tea box in the stand\n\u003c/PRED\u003e","video":"1824493830307412267.mp4"}
+{"uid":"7308623762640971227","text":"\u003ctask:success:discrete:True\u003e\nput tea box in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put tea box in the stand\n\u003c/PRED\u003e","video":"906736294898630953.mp4"}
+{"uid":"16798737578344477499","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachios in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17019429904455181075.mp4"}
+{"uid":"7080053862487758466","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the cashew 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":"10339693624118615455.mp4"}
+{"uid":"12228807876683975214","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":"13983115927628263735.mp4"}
+{"uid":"17832799877904090826","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the fruit on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"380839506437853775.mp4"}
+{"uid":"12934981314416638549","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the box of golden chai Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 box of golden chai\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the box of golden chai\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the box of golden chai Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place 4 boxes of numi tea into the bottom slots. Q: immediate next step? \u003cPRED\u003eA: Pick up the box of golden chai\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place 4 boxes of numi tea into the bottom slots. last 20 steps: 1- pick up the tea box 2- place box in the stand 3- pick up the tea box 4- place box in the stand 5- Put the box of breakfast blend backward 6- pick up the tea box 7- place box in the stand Q: immediate next step? \u003cPRED\u003eA: Pick up the box of golden chai\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place 4 boxes of numi tea into the bottom slots. last 20 steps: 1- pick up the tea box 2- place box in the stand 3- pick up the tea box 4- place box in the stand 5- Put the box of breakfast blend backward 6- pick up the tea box 7- place box in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the box of golden chai 2- place box in the stand 3- done\n\u003c/PRED\u003e","video":"8767598139036505568.mp4"}
+{"uid":"13198622439227781275","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace box in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place box in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place box in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace box in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place 4 boxes of numi tea into the bottom slots. Q: immediate next step? \u003cPRED\u003eA: place box in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place 4 boxes of numi tea into the bottom slots. last 20 steps: 1- pick up the tea box 2- place box in the stand 3- pick up the tea box Q: immediate next step? \u003cPRED\u003eA: place box in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place 4 boxes of numi tea into the bottom slots. last 20 steps: 1- pick up the tea box 2- place box in the stand 3- pick up the tea box Q: next 5 steps? \u003cPRED\u003eA: 1- place box in the stand 2- Put the box of breakfast blend backward 3- pick up the tea box 4- place box in the stand 5- pick up the tea box\n\u003c/PRED\u003e","video":"11884596520481387792.mp4"}
+{"uid":"15404916828385388126","text":"\u003ctask:success:discrete:True\u003e\npick up the tea box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the tea box\n\u003c/PRED\u003e","video":"12355092182116488509.mp4"}
+{"uid":"517153456974444063","text":"\u003ctask:success:discrete:True\u003e\nput tea box in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put tea box in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place 4 boxes of numi tea into the bottom slots. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place 4 boxes of numi tea into the bottom slots. last 20 steps: 1- pick up the tea box 2- place box in the stand 3- pick up the tea box 4- place box in the stand 5- Put the box of breakfast blend backward 6- pick up the tea box 7- place box in the stand 8- pick up the tea box 9- put tea box in the stand Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place 4 boxes of numi tea into the bottom slots. last 20 steps: 1- pick up the tea box 2- place box in the stand 3- pick up the tea box 4- place box in the stand 5- Put the box of breakfast blend backward 6- pick up the tea box 7- place box in the stand 8- pick up the tea box 9- put tea box in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"18204245834798108686.mp4"}
+{"uid":"13869400236880265570","text":"\u003ctask:success:discrete:True\u003e\nplace box in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place box in the stand\n\u003c/PRED\u003e","video":"11764324729469072856.mp4"}
+{"uid":"12325769391504771478","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the paper 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":"449153961225425016.mp4"}
+{"uid":"17683649643679428324","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput tea box in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put tea box in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put tea box in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput tea box in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place 4 boxes of numi tea into the bottom slots. Q: immediate next step? \u003cPRED\u003eA: put tea box in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place 4 boxes of numi tea into the bottom slots. last 20 steps: 1- pick up the tea box 2- place box in the stand 3- pick up the tea box 4- place box in the stand 5- Put the box of breakfast blend backward 6- pick up the tea box 7- place box in the stand 8- pick up the tea box Q: immediate next step? \u003cPRED\u003eA: put tea box in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place 4 boxes of numi tea into the bottom slots. last 20 steps: 1- pick up the tea box 2- place box in the stand 3- pick up the tea box 4- place box in the stand 5- Put the box of breakfast blend backward 6- pick up the tea box 7- place box in the stand 8- pick up the tea box Q: next 5 steps? \u003cPRED\u003eA: 1- put tea box in the stand 2- done\n\u003c/PRED\u003e","video":"18407445582830792048.mp4"}
+{"uid":"14282240288893423699","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"13177139657656491430.mp4"}
+{"uid":"13259480273191713791","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace plastic spoon 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":"15366597677604794513.mp4"}
+{"uid":"6288355050015432616","text":"\u003ctask:success:discrete:True\u003e\npick up box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up box\n\u003c/PRED\u003e","video":"4228114899147179000.mp4"}
+{"uid":"18326845754222682640","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place 4 boxes of numi tea into the bottom slots. Q: immediate next step? \u003cPRED\u003eA: Pick up the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place 4 boxes of numi tea into the bottom slots. last 20 steps: 1- pick up the tea box 2- place box in the stand 3- pick up the tea box 4- place box in the stand 5- Put the box of breakfast blend backward Q: immediate next step? \u003cPRED\u003eA: Pick up the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place 4 boxes of numi tea into the bottom slots. last 20 steps: 1- pick up the tea box 2- place box in the stand 3- pick up the tea box 4- place box in the stand 5- Put the box of breakfast blend backward Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the box 2- place box in the stand 3- pick up the tea box 4- place box in the stand 5- done\n\u003c/PRED\u003e","video":"8208097038047293040.mp4"}
+{"uid":"15298433256474204652","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace box in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place box in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place box in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace box in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place 4 boxes of numi tea into the bottom slots. Q: immediate next step? \u003cPRED\u003eA: place box in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place 4 boxes of numi tea into the bottom slots. last 20 steps: 1- pick up the tea box 2- place box in the stand 3- pick up the tea box 4- place box in the stand 5- Put the box of breakfast blend backward 6- pick up the tea box Q: immediate next step? \u003cPRED\u003eA: place box in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place 4 boxes of numi tea into the bottom slots. last 20 steps: 1- pick up the tea box 2- place box in the stand 3- pick up the tea box 4- place box in the stand 5- Put the box of breakfast blend backward 6- pick up the tea box Q: next 5 steps? \u003cPRED\u003eA: 1- place box in the stand 2- pick up the tea box 3- place box in the stand 4- done\n\u003c/PRED\u003e","video":"16593624063643987103.mp4"}
+{"uid":"10612015432403678883","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput tea box in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put tea box in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put tea box in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput tea box in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place 4 boxes of numi tea into the bottom slots. Q: immediate next step? \u003cPRED\u003eA: put tea box in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place 4 boxes of numi tea into the bottom slots. last 20 steps: 1- pick up the tea box 2- place box in the stand 3- pick up the tea box 4- place box in the stand 5- Put the box of breakfast blend backward 6- pick up the tea box Q: immediate next step? \u003cPRED\u003eA: put tea box in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place 4 boxes of numi tea into the bottom slots. last 20 steps: 1- pick up the tea box 2- place box in the stand 3- pick up the tea box 4- place box in the stand 5- Put the box of breakfast blend backward 6- pick up the tea box Q: next 5 steps? \u003cPRED\u003eA: 1- put tea box in the stand 2- pick up the tea box 3- place box in the stand 4- done\n\u003c/PRED\u003e","video":"9035774738828599604.mp4"}
+{"uid":"3177052281461702307","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":"16347831044391489311.mp4"}
+{"uid":"4502355909926647076","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11556526850186221067.mp4"}
+{"uid":"18258991692230061834","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":"6128507208819163874.mp4"}
+{"uid":"14530998163676311576","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the blue 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":"11038894142680852733.mp4"}
+{"uid":"3836706929024740328","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":"7115465296374421883.mp4"}
+{"uid":"3441892612243292688","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Put the can on the table 2- put blue can on table Q: immediate next step? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Put the can on the table 2- put blue can on table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the can on the table 2- Put the can on the table 3- Place the cold brew can on the table 4- Put the can on the table 5- Place the cold brew can on the table\n\u003c/PRED\u003e","video":"8370474846930978374.mp4"}
+{"uid":"3517494122512810429","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"11851844192410605423.mp4"}
+{"uid":"15639938651888464672","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":"4258641369123875348.mp4"}
+{"uid":"11196884820451327739","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput green packet in stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12423097452508480334.mp4"}
+{"uid":"7211559586081605616","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":"3859476337564168539.mp4"}
+{"uid":"6809905440606888512","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the cold brew can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Put the can on the table 2- put blue can on table Q: immediate next step? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Put the can on the table 2- put blue can on table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the cold brew can on the table 2- Put the can on the table 3- Place the cold brew can on the table 4- Put the can on the table 5- Place the cold brew can on the table\n\u003c/PRED\u003e","video":"14394826449875587969.mp4"}
+{"uid":"15364877434676595218","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the cold brew can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Put the can on the table 2- put blue can on table 3- Place the cold brew can on the table Q: immediate next step? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Put the can on the table 2- put blue can on table 3- Place the cold brew can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the cold brew can on the table 2- Place the cold brew can on the table 3- Put the can on the table 4- Place the cold brew can on the table 5- Place the cold brew can on the table\n\u003c/PRED\u003e","video":"15398817017317052268.mp4"}
+{"uid":"7063059473714019640","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":"16082912916057121693.mp4"}
+{"uid":"8095197233598565584","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the spoon in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14163913960995223327.mp4"}
+{"uid":"4146341856962413270","text":"\u003ctask:success:discrete:True\u003e\nput blue can on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e","video":"3729334667900539266.mp4"}
+{"uid":"15380788254662226774","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput blue can on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put blue can on table 2- put blue can on table 3- Place the cold brew can on the table 4- Put the can on the table 5- Place the cold brew can on the table\n\u003c/PRED\u003e","video":"11266469080164216674.mp4"}
+{"uid":"9557846432816626695","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Put the can on the table 2- put blue can on table 3- Place the cold brew can on the table 4- Put the can on the table Q: immediate next step? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Put the can on the table 2- put blue can on table 3- Place the cold brew can on the table 4- Put the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the can on the table 2- Put the can on the table 3- Place the cold brew can on the table 4- Place the cold brew can on the table 5- done\n\u003c/PRED\u003e","video":"18237145135869452363.mp4"}
+{"uid":"864435821382353949","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput red packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8872654431585726640.mp4"}
+{"uid":"5696642582571496324","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Put the can on the table 2- put blue can on table 3- Place the cold brew can on the table 4- Put the can on the table 5- Place the cold brew can on the table 6- Put the can on the table 7- Place the cold brew can on the table Q: immediate next step? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Put the can on the table 2- put blue can on table 3- Place the cold brew can on the table 4- Put the can on the table 5- Place the cold brew can on the table 6- Put the can on the table 7- Place the cold brew can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the can on the table 2- done\n\u003c/PRED\u003e","video":"14606853625858533161.mp4"}
+{"uid":"6017146668739105935","text":"\u003ctask:success:discrete:True\u003e\nclose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e","video":"17667118726446572310.mp4"}
+{"uid":"452186917093780702","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pen holder into the carton Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4568949811511222015.mp4"}
+{"uid":"11737561361553278284","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":"15630308843132749523.mp4"}
+{"uid":"7809419528887838437","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove towards the right 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":"9189815783885155478.mp4"}
+{"uid":"9153021803519146756","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the heart block in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"767915522835324843.mp4"}
+{"uid":"12291624455438793457","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":"8748358817115478903.mp4"}
+{"uid":"7710335637256331219","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":"2916753812674540888.mp4"}
+{"uid":"10036641160533108145","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the bowl on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12394068853716425074.mp4"}
+{"uid":"13927687672710752715","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput blue can on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Put the can on the table Q: immediate next step? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Put the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put blue can on table 2- Place the cold brew can on the table 3- Put the can on the table 4- Place the cold brew can on the table 5- Put the can on the table\n\u003c/PRED\u003e","video":"3630358696172070596.mp4"}
+{"uid":"17877621479438131933","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you head into the MK and grab me a beef stick and peanut butter pack. last 20 steps: 1- open the drawer 2- place the packet on the table 3- place the packet on the table 4- close the drawer 5- place the packet on the left side of the table Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you head into the MK and grab me a beef stick and peanut butter pack Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you head into the MK and grab me a beef stick and peanut butter pack. last 20 steps: 1- open the drawer 2- place the packet on the table 3- place the packet on the table 4- close the drawer 5- place the packet on the left side of the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet on the table 2- move the packets to the left side 3- done\n\u003c/PRED\u003e","video":"12697000490330022358.mp4"}
+{"uid":"4070295369245233066","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the banana peel in the trash Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9764032924600261677.mp4"}
+{"uid":"11733353232265377707","text":"\u003ctask:success:discrete:True\u003e\nPut the can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e","video":"974134627049242483.mp4"}
+{"uid":"772316399974490250","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the coffee cup into drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12831026791800205240.mp4"}
+{"uid":"15867639866229455898","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white  packet in the plate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10957032916931977701.mp4"}
+{"uid":"1723901151624550198","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Put the can on the table 2- put blue can on table 3- Place the cold brew can on the table 4- Put the can on the table 5- Place the cold brew can on the table Q: immediate next step? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Put the can on the table 2- put blue can on table 3- Place the cold brew can on the table 4- Put the can on the table 5- Place the cold brew can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the can on the table 2- Place the cold brew can on the table 3- Place the cold brew can on the table 4- done\n\u003c/PRED\u003e","video":"13720382177637623965.mp4"}
+{"uid":"6734848008802794878","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput blue can on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Put the can on the table 2- put blue can on table 3- Place the cold brew can on the table 4- Put the can on the table Q: immediate next step? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Put the can on the table 2- put blue can on table 3- Place the cold brew can on the table 4- Put the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put blue can on table 2- Put the can on the table 3- Place the cold brew can on the table 4- Place the cold brew can on the table 5- done\n\u003c/PRED\u003e","video":"7662163321477026576.mp4"}
+{"uid":"8922121294528023540","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":"3311302303624887873.mp4"}
+{"uid":"3816246732592511675","text":"\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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you head into the MK and grab me a beef stick and peanut butter pack. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- place the packet on the table 3- place the packet on the table 4- close the drawer 5- place the packet on the left side of the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you head into the MK and grab me a beef stick and peanut butter pack 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you head into the MK and grab me a beef stick and peanut butter pack. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14126347019493660068.mp4"}
+{"uid":"10807504026367753303","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":"8626020407734048742.mp4"}
+{"uid":"3170790602211118230","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you head into the MK and grab me a beef stick and peanut butter pack. last 20 steps: 1- open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet on the table 2- place the packet on the table 3- close the drawer 4- place the packet on the left side of the table 5- place the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you head into the MK and grab me a beef stick and peanut butter pack. last 20 steps: 1- open the drawer Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you head into the MK and grab me a beef stick and peanut butter pack Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e","video":"11341624035288645999.mp4"}
+{"uid":"13061679241606047514","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":"3645585725801504796.mp4"}
+{"uid":"6897771039480065531","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\narrange the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8738549659663785251.mp4"}
+{"uid":"9567060903369929371","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Put the can on the table 2- put blue can on table 3- Place the cold brew can on the table Q: immediate next step? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Put the can on the table 2- put blue can on table 3- Place the cold brew can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put blue can on table 2- Place the cold brew can on the table 3- Put the can on the table 4- Place the cold brew can on the table 5- Place the cold brew can on the table\n\u003c/PRED\u003e","video":"1437956497657471201.mp4"}
+{"uid":"10850542710176694550","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":"17981943531513603917.mp4"}
+{"uid":"12433340667509252526","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the cold brew can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Put the can on the table 2- put blue can on table 3- Place the cold brew can on the table 4- Put the can on the table 5- Place the cold brew can on the table 6- Put the can on the table 7- Place the cold brew can on the table Q: immediate next step? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Put the can on the table 2- put blue can on table 3- Place the cold brew can on the table 4- Put the can on the table 5- Place the cold brew can on the table 6- Put the can on the table 7- Place the cold brew can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the cold brew can on the table 2- done\n\u003c/PRED\u003e","video":"10668894045757134026.mp4"}
+{"uid":"13817030236826002755","text":"\u003ctask:success:discrete:True\u003e\nPut the can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e","video":"417816074591756943.mp4"}
+{"uid":"1446984497740788383","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the cold brew can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the cold brew can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place the cold brew can on the table 2- put blue can on table 3- Place the cold brew can on the table 4- Put the can on the table 5- Place the cold brew can on the table\n\u003c/PRED\u003e","video":"3320145621808156025.mp4"}
+{"uid":"9527556468261960065","text":"\u003ctask:success:discrete:True\u003e\nput blue can on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e","video":"12097457333278142650.mp4"}
+{"uid":"3776696870769035177","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange in white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6120884329492463899.mp4"}
+{"uid":"4779977236414598310","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput diamond in the blue drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2344835118794449769.mp4"}
+{"uid":"16279787879940633447","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Put the can on the table 2- put blue can on table 3- Place the cold brew can on the table 4- Put the can on the table 5- Place the cold brew can on the table 6- Put the can on the table Q: immediate next step? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Put the can on the table 2- put blue can on table 3- Place the cold brew can on the table 4- Put the can on the table 5- Place the cold brew can on the table 6- Put the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the can on the table 2- Place the cold brew can on the table 3- done\n\u003c/PRED\u003e","video":"11976709782025844482.mp4"}
+{"uid":"642336416404798019","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the can on the table 2- put blue can on table 3- Place the cold brew can on the table 4- Put the can on the table 5- Place the cold brew can on the table\n\u003c/PRED\u003e","video":"9417636319673182077.mp4"}
+{"uid":"12686228718335062254","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the candy in the organiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18173071861058580644.mp4"}
+{"uid":"16981986425047726074","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":"13361462042582136089.mp4"}
+{"uid":"18199012422975385548","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut  the glasses in left side of 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":"16070262505637128079.mp4"}
+{"uid":"6981699037035525833","text":"\u003ctask:success:discrete:True\u003e\nPlace the cold brew can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e","video":"7022869510066170372.mp4"}
+{"uid":"13800526033783526781","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Put the can on the table Q: immediate next step? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Put the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the can on the table 2- Place the cold brew can on the table 3- Put the can on the table 4- Place the cold brew can on the table 5- Put the can on the table\n\u003c/PRED\u003e","video":"16969092407700796473.mp4"}
+{"uid":"2062330294872865292","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet in the glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2774302022554036806.mp4"}
+{"uid":"13374756946113323290","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the cold brew can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Put the can on the table 2- put blue can on table 3- Place the cold brew can on the table 4- Put the can on the table 5- Place the cold brew can on the table 6- Put the can on the table Q: immediate next step? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Put the can on the table 2- put blue can on table 3- Place the cold brew can on the table 4- Put the can on the table 5- Place the cold brew can on the table 6- Put the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the cold brew can on the table 2- Place the cold brew can on the table 3- done\n\u003c/PRED\u003e","video":"15592936964848456968.mp4"}
+{"uid":"8292988235041645964","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you head into the MK and grab me a beef stick and peanut butter pack Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you head into the MK and grab me a beef stick and peanut butter pack. last 20 steps: 1- open the drawer 2- place the packet on the table 3- place the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- place the packet on the left side of the table 3- place the packet on the table 4- move the packets to the left side 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you head into the MK and grab me a beef stick and peanut butter pack. last 20 steps: 1- open the drawer 2- place the packet on the table 3- place the packet on the table Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15982934216199760185.mp4"}
+{"uid":"14468452171316913131","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Put the can on the table 2- put blue can on table 3- Place the cold brew can on the table 4- Put the can on the table 5- Place the cold brew can on the table 6- Put the can on the table 7- Place the cold brew can on the table Q: immediate next step? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Put the can on the table 2- put blue can on table 3- Place the cold brew can on the table 4- Put the can on the table 5- Place the cold brew can on the table 6- Put the can on the table 7- Place the cold brew can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put blue can on table 2- done\n\u003c/PRED\u003e","video":"2813853657215243332.mp4"}
+{"uid":"13623648831318891431","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Put the can on the table 2- put blue can on table 3- Place the cold brew can on the table 4- Put the can on the table 5- Place the cold brew can on the table 6- Put the can on the table Q: immediate next step? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Put the can on the table 2- put blue can on table 3- Place the cold brew can on the table 4- Put the can on the table 5- Place the cold brew can on the table 6- Put the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put blue can on table 2- Place the cold brew can on the table 3- done\n\u003c/PRED\u003e","video":"1845514911928399698.mp4"}
+{"uid":"9555471370930558454","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the cold brew can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Put the can on the table 2- put blue can on table 3- Place the cold brew can on the table 4- Put the can on the table Q: immediate next step? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Put the can on the table 2- put blue can on table 3- Place the cold brew can on the table 4- Put the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the cold brew can on the table 2- Put the can on the table 3- Place the cold brew can on the table 4- Place the cold brew can on the table 5- done\n\u003c/PRED\u003e","video":"17394778609134628673.mp4"}
+{"uid":"10209379732524036781","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the cold brew can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the cold brew can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Put the can on the table Q: immediate next step? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Put the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the cold brew can on the table 2- Place the cold brew can on the table 3- Put the can on the table 4- Place the cold brew can on the table 5- Put the can on the table\n\u003c/PRED\u003e","video":"6589007223588820695.mp4"}
+{"uid":"2482458814133581126","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the cold brew can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Put the can on the table 2- put blue can on table 3- Place the cold brew can on the table 4- Put the can on the table 5- Place the cold brew can on the table Q: immediate next step? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Put the can on the table 2- put blue can on table 3- Place the cold brew can on the table 4- Put the can on the table 5- Place the cold brew can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the cold brew can on the table 2- Place the cold brew can on the table 3- Place the cold brew can on the table 4- done\n\u003c/PRED\u003e","video":"6940544470057247997.mp4"}
+{"uid":"9185820669270396653","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Put the can on the table 2- put blue can on table Q: immediate next step? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Put the can on the table 2- put blue can on table Q: next 5 steps? \u003cPRED\u003eA: 1- put blue can on table 2- Put the can on the table 3- Place the cold brew can on the table 4- Put the can on the table 5- Place the cold brew can on the table\n\u003c/PRED\u003e","video":"14382866023687517985.mp4"}
+{"uid":"14180527351665148175","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Put the can on the table 2- put blue can on table 3- Place the cold brew can on the table Q: immediate next step? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Put the can on the table 2- put blue can on table 3- Place the cold brew can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the can on the table 2- Place the cold brew can on the table 3- Put the can on the table 4- Place the cold brew can on the table 5- Place the cold brew can on the table\n\u003c/PRED\u003e","video":"12578941674498517859.mp4"}
+{"uid":"13493439776832267878","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":"9749346145044353895.mp4"}
+{"uid":"17014628109893758447","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the packet on the left side of the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the packet 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":"10197775306642533580.mp4"}
+{"uid":"17926762807024621738","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17420758768930690577.mp4"}
+{"uid":"2149802340784305142","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nHold the tape cutter Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15961752542140015676.mp4"}
+{"uid":"3257955991681693084","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you head into the MK and grab me a beef stick and peanut butter pack. last 20 steps: 1- open the drawer 2- place the packet on the table Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you head into the MK and grab me a beef stick and peanut butter pack Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you head into the MK and grab me a beef stick and peanut butter pack. last 20 steps: 1- open the drawer 2- place the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet on the table 2- close the drawer 3- place the packet on the left side of the table 4- place the packet on the table 5- move the packets to the left side\n\u003c/PRED\u003e","video":"6132015821975085985.mp4"}
+{"uid":"15750941855718708530","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Put the can on the table 2- put blue can on table 3- Place the cold brew can on the table 4- Put the can on the table 5- Place the cold brew can on the table Q: immediate next step? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Put the can on the table 2- put blue can on table 3- Place the cold brew can on the table 4- Put the can on the table 5- Place the cold brew can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put blue can on table 2- Place the cold brew can on the table 3- Place the cold brew can on the table 4- done\n\u003c/PRED\u003e","video":"5168446870915123025.mp4"}
+{"uid":"11159573790004527670","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"3305981305093389996.mp4"}
+{"uid":"13224507488201476830","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet 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\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you head into the MK and grab me a beef stick and peanut butter pack. last 20 steps: 1- open the drawer 2- place the packet on the table 3- place the packet on the table 4- close the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet on the left side of the table 2- place the packet on the table 3- move the packets to the left side 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the packet 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you head into the MK and grab me a beef stick and peanut butter pack. last 20 steps: 1- open the drawer 2- place the packet on the table 3- place the packet on the table 4- close the drawer Q: immediate next step? \u003cPRED\u003eA: place the packet on the left side of the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet on the left side of the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you head into the MK and grab me a beef stick and peanut butter pack Q: immediate next step? \u003cPRED\u003eA: place the packet on the left side of the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet on the left side of the table\n\u003c/PRED\u003e","video":"9180322143791638373.mp4"}
+{"uid":"3262122288402799375","text":"\u003ctask:success:discrete:False\u003e\nmove the packets to the left side Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you head into the MK and grab me a beef stick and peanut butter pack. last 20 steps: 1- open the drawer 2- place the packet on the table 3- place the packet on the table 4- close the drawer 5- place the packet on the left side of the table 6- place the packet on the table Q: immediate next step? \u003cPRED\u003eA: move the packets to the left side\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you head into the MK and grab me a beef stick and peanut butter pack Q: immediate next step? \u003cPRED\u003eA: move the packets to the left side\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the packets to the left side Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the packets to the left side\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the packets to the left side\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you head into the MK and grab me a beef stick and peanut butter pack. last 20 steps: 1- open the drawer 2- place the packet on the table 3- place the packet on the table 4- close the drawer 5- place the packet on the left side of the table 6- place the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- move the packets to the left side 2- done\n\u003c/PRED\u003e","video":"15415798356459264115.mp4"}
+{"uid":"6591409320470697587","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove label in front of 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":"14285779835233106857.mp4"}
+{"uid":"4169733341754305599","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put back all the oatmeal to the rack Q: immediate next step? \u003cPRED\u003eA: put packet in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put back all the oatmeal to the rack. last 20 steps: 1- put packet in the stand 2- put packet in the stand 3- put packet in the stand 4- put packet in the stand 5- put packet in the stand 6- put packet in the stand 7- put packet in the stand 8- put packet in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the stand 2- put packet in the stand 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put back all the oatmeal to the rack. last 20 steps: 1- put packet in the stand 2- put packet in the stand 3- put packet in the stand 4- put packet in the stand 5- put packet in the stand 6- put packet in the stand 7- put packet in the stand 8- put packet in the stand Q: immediate next step? \u003cPRED\u003eA: put packet in the stand\n\u003c/PRED\u003e","video":"8020456222028535432.mp4"}
+{"uid":"13842469699807931803","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":"4174111242643347713.mp4"}
+{"uid":"15795797045168293296","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packet in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput packet in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9439646147724085701.mp4"}
+{"uid":"10458453744468532944","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the alphabet 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":"10120358408324696250.mp4"}
+{"uid":"18350992729037319621","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":"4931331407440205288.mp4"}
+{"uid":"3520102627635907594","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":"5113346827400963007.mp4"}
+{"uid":"15377802626023522938","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put back all the oatmeal to the rack Q: immediate next step? \u003cPRED\u003eA: put packet in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put back all the oatmeal to the rack. last 20 steps: 1- put packet in the stand 2- put packet in the stand 3- put packet in the stand 4- put packet in the stand 5- put packet in the stand Q: immediate next step? \u003cPRED\u003eA: put packet in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put back all the oatmeal to the rack. last 20 steps: 1- put packet in the stand 2- put packet in the stand 3- put packet in the stand 4- put packet in the stand 5- put packet in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the stand 2- put packet in the stand 3- put packet in the stand 4- put packet in the stand 5- put packet in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the stand\n\u003c/PRED\u003e","video":"15234293054240496499.mp4"}
+{"uid":"3689975331656073171","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put back all the oatmeal to the rack. last 20 steps: 1- put packet in the stand 2- put packet in the stand 3- put packet in the stand 4- put packet in the stand 5- put packet in the stand 6- put packet in the stand 7- put packet in the stand 8- put packet in the stand 9- put packet in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the stand 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put back all the oatmeal to the rack Q: immediate next step? \u003cPRED\u003eA: put packet in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put back all the oatmeal to the rack. last 20 steps: 1- put packet in the stand 2- put packet in the stand 3- put packet in the stand 4- put packet in the stand 5- put packet in the stand 6- put packet in the stand 7- put packet in the stand 8- put packet in the stand 9- put packet in the stand Q: immediate next step? \u003cPRED\u003eA: put packet in the stand\n\u003c/PRED\u003e","video":"6033901299131430826.mp4"}
+{"uid":"5441165454522814410","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":"11661387708033746498.mp4"}
+{"uid":"17821363495659811648","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":"16806019744638818326.mp4"}
+{"uid":"534812934109010860","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put back all the oatmeal to the rack Q: immediate next step? \u003cPRED\u003eA: put packet in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put back all the oatmeal to the rack. last 20 steps: 1- put packet in the stand 2- put packet in the stand 3- put packet in the stand 4- put packet in the stand Q: immediate next step? \u003cPRED\u003eA: put packet in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put back all the oatmeal to the rack. last 20 steps: 1- put packet in the stand 2- put packet in the stand 3- put packet in the stand 4- put packet in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the stand 2- put packet in the stand 3- put packet in the stand 4- put packet in the stand 5- put packet in the stand\n\u003c/PRED\u003e","video":"17888352780267116229.mp4"}
+{"uid":"16274399585043072328","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Put back all the oatmeal to the rack Q: immediate next step? \u003cPRED\u003eA: put packet in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put back all the oatmeal to the rack. last 20 steps: 1- put packet in the stand 2- put packet in the stand 3- put packet in the stand 4- put packet in the stand 5- put packet in the stand 6- put packet in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the stand 2- put packet in the stand 3- put packet in the stand 4- put packet in the stand 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put back all the oatmeal to the rack. last 20 steps: 1- put packet in the stand 2- put packet in the stand 3- put packet in the stand 4- put packet in the stand 5- put packet in the stand 6- put packet in the stand Q: immediate next step? \u003cPRED\u003eA: put packet in the stand\n\u003c/PRED\u003e","video":"16848428153792127899.mp4"}
+{"uid":"1789557395672671624","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put back all the oatmeal to the rack. last 20 steps: 1- put packet in the stand 2- put packet in the stand Q: immediate next step? \u003cPRED\u003eA: put packet in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put back all the oatmeal to the rack. last 20 steps: 1- put packet in the stand 2- put packet in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the stand 2- put packet in the stand 3- put packet in the stand 4- put packet in the stand 5- put packet in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put back all the oatmeal to the rack Q: immediate next step? \u003cPRED\u003eA: put packet in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the stand\n\u003c/PRED\u003e","video":"15012987837360321408.mp4"}
+{"uid":"13450180942788423481","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put back all the oatmeal to the rack. last 20 steps: 1- put packet in the stand Q: immediate next step? \u003cPRED\u003eA: put packet in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put back all the oatmeal to the rack Q: immediate next step? \u003cPRED\u003eA: put packet in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put back all the oatmeal to the rack. last 20 steps: 1- put packet in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the stand 2- put packet in the stand 3- put packet in the stand 4- put packet in the stand 5- put packet in the stand\n\u003c/PRED\u003e","video":"14877648954952859680.mp4"}
+{"uid":"17347723849828049218","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Put back all the oatmeal to the rack Q: immediate next step? \u003cPRED\u003eA: put packet in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put back all the oatmeal to the rack. last 20 steps: 1- put packet in the stand 2- put packet in the stand 3- put packet in the stand 4- put packet in the stand 5- put packet in the stand 6- put packet in the stand 7- put packet in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the stand 2- put packet in the stand 3- put packet in the stand 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put back all the oatmeal to the rack. last 20 steps: 1- put packet in the stand 2- put packet in the stand 3- put packet in the stand 4- put packet in the stand 5- put packet in the stand 6- put packet in the stand 7- put packet in the stand Q: immediate next step? \u003cPRED\u003eA: put packet in the stand\n\u003c/PRED\u003e","video":"13841064131591435921.mp4"}
+{"uid":"2786044532675251555","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pen 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":"16676461224621875926.mp4"}
+{"uid":"1474105185817135908","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop white candy into organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16728270075018968840.mp4"}
+{"uid":"2027128258084223697","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Put back all the oatmeal to the rack Q: immediate next step? \u003cPRED\u003eA: put packet in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put back all the oatmeal to the rack. last 20 steps: 1- put packet in the stand 2- put packet in the stand 3- put packet in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the stand 2- put packet in the stand 3- put packet in the stand 4- put packet in the stand 5- put packet in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put back all the oatmeal to the rack. last 20 steps: 1- put packet in the stand 2- put packet in the stand 3- put packet in the stand Q: immediate next step? \u003cPRED\u003eA: put packet in the stand\n\u003c/PRED\u003e","video":"9116203305878971020.mp4"}
+{"uid":"1239895729022009149","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packet in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput packet in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6212950979683524909.mp4"}
+{"uid":"3484236114529127460","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nLift the bag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14290599530206045453.mp4"}
+{"uid":"10033873082248824717","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose gripper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12311101598109166683.mp4"}
+{"uid":"9326074534825105097","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove your arm close to the banana peel Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9141151677107759671.mp4"}
+{"uid":"3661948219303151958","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the indoor plant on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9723657808628797281.mp4"}
+{"uid":"2609955847597597824","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":"1545224844142654601.mp4"}
+{"uid":"4280273182598372824","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up a cereal 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":"11486097962472523251.mp4"}
+{"uid":"2309031839645331895","text":"\u003ctask:success:discrete:True\u003e\nput the wipes 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 wipes on the table\n\u003c/PRED\u003e","video":"7323791706720705979.mp4"}
+{"uid":"1025684400509934448","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachio into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15452179352343429780.mp4"}
+{"uid":"9461636406385930580","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the tissue box on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from box and place them on table organized Q: immediate next step? \u003cPRED\u003eA: put the tissue box on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and place them on table organized. last 20 steps: 1- put the white packet in the jar 2- put the fruit gummies in the jar 3- place two white packets on the table 4- put a white packet in the jar 5- put a white packet in the jar 6- place the blur wire on the table 7- place the wipes packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the tissue box on the table 2- pick the pen holder 3- put the pen stand on the table 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the tissue box on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and place them on table organized. last 20 steps: 1- put the white packet in the jar 2- put the fruit gummies in the jar 3- place two white packets on the table 4- put a white packet in the jar 5- put a white packet in the jar 6- place the blur wire on the table 7- place the wipes packet on the table Q: immediate next step? \u003cPRED\u003eA: put the tissue box on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the tissue box on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6719532193084162376.mp4"}
+{"uid":"5348646745297813201","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and place them on table organized. last 20 steps: 1- put the white packet in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put orange and blue packet in jar 2- place two white packets on the table 3- put a white packet in the jar 4- put a white packet in the jar 5- place the blur wire on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from box and place them on table organized Q: immediate next step? \u003cPRED\u003eA: put orange and blue packet in jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and place them on table organized. last 20 steps: 1- put the white packet in the jar Q: immediate next step? \u003cPRED\u003eA: put orange and blue packet in jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange and blue packet in jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput orange and blue packet in jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange and blue packet in jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange and blue packet in jar\n\u003c/PRED\u003e","video":"10734905400251104933.mp4"}
+{"uid":"17699122184689577195","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from box and place them on table organized Q: immediate next step? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and place them on table organized. last 20 steps: 1- put the white packet in the jar 2- put the fruit gummies in the jar 3- place two white packets on the table 4- put a white packet in the jar Q: immediate next step? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and place them on table organized. last 20 steps: 1- put the white packet in the jar 2- put the fruit gummies in the jar 3- place two white packets on the table 4- put a white packet in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packet in the jar 2- place the wipes packet on the table 3- place the tissue box on the table 4- pick the pen holder 5- put the pen stand on the table\n\u003c/PRED\u003e","video":"9518382934281587063.mp4"}
+{"uid":"17981179721136794104","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the tissue box on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the tissue box on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3815807965879218163.mp4"}
+{"uid":"17549626399981782143","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the lid 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":"4874219032689960525.mp4"}
+{"uid":"8507650942974605486","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the yellow 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":"12706258348192690190.mp4"}
+{"uid":"3594180648910970515","text":"\u003ctask:success:discrete:True\u003e\nput the wire 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 wire on the table\n\u003c/PRED\u003e","video":"399244383078223720.mp4"}
+{"uid":"18314840155353486442","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from box and place them on table organized Q: immediate next step? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and place them on table organized. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and place them on table organized. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packet in the jar 2- put the fruit gummies in the jar 3- place two white packets on the table 4- put a white packet in the jar 5- put a white packet in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the white packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17586221126012287014.mp4"}
+{"uid":"14397716614950387203","text":"\u003ctask:success:discrete:True\u003e\nput the tissue box on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the tissue box on the table\n\u003c/PRED\u003e","video":"15191426893236273831.mp4"}
+{"uid":"11279696878960684956","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the wipes on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the wipes on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and place them on table organized. last 20 steps: 1- put the white packet in the jar 2- put the fruit gummies in the jar 3- place two white packets on the table 4- put a white packet in the jar 5- put a white packet in the jar 6- place the blur wire on the table Q: immediate next step? \u003cPRED\u003eA: put the wipes on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the wipes on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from box and place them on table organized Q: immediate next step? \u003cPRED\u003eA: put the wipes on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the wipes on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and place them on table organized. last 20 steps: 1- put the white packet in the jar 2- put the fruit gummies in the jar 3- place two white packets on the table 4- put a white packet in the jar 5- put a white packet in the jar 6- place the blur wire on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the wipes on the table 2- place the tissue box on the table 3- pick the pen holder 4- put the pen stand on the table 5- done\n\u003c/PRED\u003e","video":"17800975989861439531.mp4"}
+{"uid":"2950953700370828245","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":"3882551486046237956.mp4"}
+{"uid":"7536315035417983361","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from box and place them on table organized Q: immediate next step? \u003cPRED\u003eA: put the pen stand on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and place them on table organized. last 20 steps: 1- put the white packet in the jar 2- put the fruit gummies in the jar 3- place two white packets on the table 4- put a white packet in the jar 5- put a white packet in the jar 6- place the blur wire on the table 7- place the wipes packet on the table 8- place the tissue box on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen stand on the table 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen stand on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and place them on table organized. last 20 steps: 1- put the white packet in the jar 2- put the fruit gummies in the jar 3- place two white packets on the table 4- put a white packet in the jar 5- put a white packet in the jar 6- place the blur wire on the table 7- place the wipes packet on the table 8- place the tissue box on the table Q: immediate next step? \u003cPRED\u003eA: put the pen stand on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen stand on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen stand on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen stand on the table\n\u003c/PRED\u003e","video":"3834419251161930570.mp4"}
+{"uid":"13658703975376541931","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and place them on table organized. last 20 steps: 1- put the white packet in the jar 2- put the fruit gummies in the jar 3- place two white packets on the table 4- put a white packet in the jar 5- put a white packet in the jar 6- place the blur wire on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the yellow packet on the table 2- pick the pen holder 3- put the pen stand on the table 4- done\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:planning:freeform\u003e\ncurrent goal is: pick up items from box and place them on table organized Q: immediate next step? \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\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and place them on table organized. last 20 steps: 1- put the white packet in the jar 2- put the fruit gummies in the jar 3- place two white packets on the table 4- put a white packet in the jar 5- put a white packet in the jar 6- place the blur wire on the table 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: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":"14351189915577899434.mp4"}
+{"uid":"802765051049903257","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the white packets on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the white packets on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13385925576536661303.mp4"}
+{"uid":"2801095892074754841","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and place them on table organized. last 20 steps: 1- put the white packet in the jar 2- put the fruit gummies in the jar 3- place two white packets on the table 4- put a white packet in the jar 5- put a white packet in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the wire on the table 2- place the wipes packet on the table 3- place the tissue box on the table 4- pick the pen holder 5- put the pen stand on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the wire on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and place them on table organized. last 20 steps: 1- put the white packet in the jar 2- put the fruit gummies in the jar 3- place two white packets on the table 4- put a white packet in the jar 5- put a white packet in the jar Q: immediate next step? \u003cPRED\u003eA: put the wire on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the wire on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from box and place them on table organized Q: immediate next step? \u003cPRED\u003eA: put the wire on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the wire on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the wire on the table\n\u003c/PRED\u003e","video":"17861847880195503401.mp4"}
+{"uid":"14394682335062085473","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and place them on table organized. last 20 steps: 1- put the white packet in the jar 2- put the fruit gummies in the jar Q: immediate next step? \u003cPRED\u003eA: put the white packets on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white packets on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the white packets on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the white packets on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and place them on table organized. last 20 steps: 1- put the white packet in the jar 2- put the fruit gummies in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packets on the table 2- put a white packet in the jar 3- place the blur wire on the table 4- place the wipes packet on the table 5- place the tissue box on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white packets on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from box and place them on table organized Q: immediate next step? \u003cPRED\u003eA: put the white packets on the table\n\u003c/PRED\u003e","video":"14455210441516108890.mp4"}
+{"uid":"7492382027358501699","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and place them on table organized. last 20 steps: 1- put the white packet in the jar 2- put the fruit gummies in the jar 3- place two white packets on the table 4- put a white packet in the jar 5- put a white packet in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- place the wipes packet on the table 2- place the tissue box on the table 3- pick the pen holder 4- put the pen stand on the table 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the wipes packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and place them on table organized. last 20 steps: 1- put the white packet in the jar 2- put the fruit gummies in the jar 3- place two white packets on the table 4- put a white packet in the jar 5- put a white packet in the jar Q: immediate next step? \u003cPRED\u003eA: place the wipes 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 wipes packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the wipes 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 wipes 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: pick up items from box and place them on table organized Q: immediate next step? \u003cPRED\u003eA: place the wipes packet on the table\n\u003c/PRED\u003e","video":"3932451590093123310.mp4"}
+{"uid":"755545265139863875","text":"\u003ctask:success:discrete:False\u003e\nput white small packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and place them on table organized. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put white small packet in the jar 2- put the fruit gummies in the jar 3- place two white packets on the table 4- put a white packet in the jar 5- put a white packet in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white small packet in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from box and place them on table organized Q: immediate next step? \u003cPRED\u003eA: put white small packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white small packet in the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and place them on table organized. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put white small packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput white small packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17286711627926168209.mp4"}
+{"uid":"303081294632650476","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the tissue box on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from box and place them on table organized Q: immediate next step? \u003cPRED\u003eA: put the tissue box on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and place them on table organized. last 20 steps: 1- put the white packet in the jar 2- put the fruit gummies in the jar 3- place two white packets on the table 4- put a white packet in the jar 5- put a white packet in the jar 6- place the blur wire on the table 7- place the wipes packet on the table Q: immediate next step? \u003cPRED\u003eA: put the tissue box on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the tissue box on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and place them on table organized. last 20 steps: 1- put the white packet in the jar 2- put the fruit gummies in the jar 3- place two white packets on the table 4- put a white packet in the jar 5- put a white packet in the jar 6- place the blur wire on the table 7- place the wipes packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the tissue box on the table 2- pick the pen holder 3- put the pen stand on the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the tissue box on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the tissue box on the table\n\u003c/PRED\u003e","video":"15109067999869646970.mp4"}
+{"uid":"5019049290893157855","text":"\u003ctask:success:discrete:True\u003e\nput white small packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put white small packet in the jar\n\u003c/PRED\u003e","video":"6132199371486826711.mp4"}
+{"uid":"5151627677264178981","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop apple into tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"543906949801716356.mp4"}
+{"uid":"12701231282068634028","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the tissue box on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the tissue box on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the tissue box on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from box and place them on table organized Q: immediate next step? \u003cPRED\u003eA: place the tissue box on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and place them on table organized. last 20 steps: 1- put the white packet in the jar 2- put the fruit gummies in the jar 3- place two white packets on the table 4- put a white packet in the jar 5- put a white packet in the jar 6- place the blur wire on the table 7- place the wipes packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the tissue box on the table 2- pick the pen holder 3- put the pen stand on the table 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the tissue box on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and place them on table organized. last 20 steps: 1- put the white packet in the jar 2- put the fruit gummies in the jar 3- place two white packets on the table 4- put a white packet in the jar 5- put a white packet in the jar 6- place the blur wire on the table 7- place the wipes packet on the table Q: immediate next step? \u003cPRED\u003eA: place the tissue box on the table\n\u003c/PRED\u003e","video":"15607096083322629607.mp4"}
+{"uid":"1408433710507292967","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop forks 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":"14992064699614677750.mp4"}
+{"uid":"11400862936922837432","text":"\u003ctask:success:discrete:True\u003e\nput a white packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put a white packet in the jar\n\u003c/PRED\u003e","video":"6410013956433775364.mp4"}
+{"uid":"5537129618955843871","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a white packet in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from box and place them on table organized Q: immediate next step? \u003cPRED\u003eA: put a white packet in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a white packet in the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and place them on table organized. last 20 steps: 1- put the white packet in the jar 2- put the fruit gummies in the jar 3- place two white packets on the table Q: immediate next step? \u003cPRED\u003eA: put a white packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a white packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput a white packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and place them on table organized. last 20 steps: 1- put the white packet in the jar 2- put the fruit gummies in the jar 3- place two white packets on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put a white packet in the jar 2- place the blur wire on the table 3- place the wipes packet on the table 4- place the tissue box on the table 5- pick the pen holder\n\u003c/PRED\u003e","video":"11387866415265684384.mp4"}
+{"uid":"6501835643402795407","text":"\u003ctask:success:discrete:True\u003e\nput a white packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put a white packet in the jar\n\u003c/PRED\u003e","video":"5402859142143605635.mp4"}
+{"uid":"14181043585674957715","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white packets on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput white packets on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and place them on table organized. last 20 steps: 1- put the white packet in the jar 2- put the fruit gummies in the jar Q: immediate next step? \u003cPRED\u003eA: put white packets on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and place them on table organized. last 20 steps: 1- put the white packet in the jar 2- put the fruit gummies in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put white packets on the table 2- put a white packet in the jar 3- put a white packet in the jar 4- place the blur wire on the table 5- place the wipes packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput white packets on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white packets on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from box and place them on table organized Q: immediate next step? \u003cPRED\u003eA: put white packets on the table\n\u003c/PRED\u003e","video":"1482749792026063337.mp4"}
+{"uid":"6123587870209603762","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":"7922208669523678912.mp4"}
+{"uid":"17918291387741647743","text":"\u003ctask:success:discrete:True\u003e\nput white packets on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put white packets on the table\n\u003c/PRED\u003e","video":"16869650994574925015.mp4"}
+{"uid":"8845956805270415431","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":"13128592648547517585.mp4"}
+{"uid":"2710956257633431460","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the red 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":"17562420746764161196.mp4"}
+{"uid":"1688990794145431381","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the holder from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"606963571287927053.mp4"}
+{"uid":"15763743048869703029","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and place them on table organized. last 20 steps: 1- put the white packet in the jar 2- put the fruit gummies in the jar 3- place two white packets on the table 4- put a white packet in the jar 5- put a white packet in the jar 6- place the blur wire on the table 7- place the wipes packet on the table 8- place the tissue box on the table 9- pick the pen holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from box and place them on table organized Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and place them on table organized. last 20 steps: 1- put the white packet in the jar 2- put the fruit gummies in the jar 3- place two white packets on the table 4- put a white packet in the jar 5- put a white packet in the jar 6- place the blur wire on the table 7- place the wipes packet on the table 8- place the tissue box on the table 9- pick the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"566350679206712071.mp4"}
+{"uid":"14072469956273413874","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place that pen holder on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace that pen holder on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and place them on table organized. last 20 steps: 1- put the white packet in the jar 2- put the fruit gummies in the jar 3- place two white packets on the table 4- put a white packet in the jar 5- put a white packet in the jar 6- place the blur wire on the table 7- place the wipes packet on the table 8- place the tissue box on the table Q: immediate next step? \u003cPRED\u003eA: place that pen holder on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace that pen holder on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from box and place them on table organized Q: immediate next step? \u003cPRED\u003eA: place that pen holder on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place that pen holder on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and place them on table organized. last 20 steps: 1- put the white packet in the jar 2- put the fruit gummies in the jar 3- place two white packets on the table 4- put a white packet in the jar 5- put a white packet in the jar 6- place the blur wire on the table 7- place the wipes packet on the table 8- place the tissue box on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place that pen holder on the table 2- done\n\u003c/PRED\u003e","video":"7335237837806365332.mp4"}
+{"uid":"10398426523946968413","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":"5886345181149309235.mp4"}
+{"uid":"7859907013272590883","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and place them on table organized. last 20 steps: 1- put the white packet in the jar 2- put the fruit gummies in the jar 3- place two white packets on the table 4- put a white packet in the jar 5- put a white packet in the jar 6- place the blur wire on the table 7- place the wipes packet on the table 8- place the tissue box on the table Q: immediate next step? \u003cPRED\u003eA: pick the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and place them on table organized. last 20 steps: 1- put the white packet in the jar 2- put the fruit gummies in the jar 3- place two white packets on the table 4- put a white packet in the jar 5- put a white packet in the jar 6- place the blur wire on the table 7- place the wipes packet on the table 8- place the tissue box on the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick the pen holder 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick 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: pick up items from box and place them on table organized Q: immediate next step? \u003cPRED\u003eA: pick the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick 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":"6555096673011589680.mp4"}
+{"uid":"142517697647749071","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from box and place them on table organized Q: immediate next step? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and place them on table organized. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and place them on table organized. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packet in the jar 2- put the fruit gummies in the jar 3- place two white packets on the table 4- put a white packet in the jar 5- put a white packet in the jar\n\u003c/PRED\u003e","video":"12313487362304702230.mp4"}
+{"uid":"2988201482126659753","text":"\u003ctask:success:discrete:False\u003e\nput the fruit gummies 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 gummies in the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and place them on table organized. last 20 steps: 1- put the white packet in the jar Q: immediate next step? \u003cPRED\u003eA: put the fruit gummies in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from box and place them on table organized Q: immediate next step? \u003cPRED\u003eA: put the fruit gummies 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 gummies in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and place them on table organized. last 20 steps: 1- put the white packet in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the fruit gummies in the jar 2- place two white packets on the table 3- put a white packet in the jar 4- put a white packet in the jar 5- place the blur wire on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the fruit gummies 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":"4457042370963733263.mp4"}
+{"uid":"16587329260715902114","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the hint bottle into the carton box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13559908005954984489.mp4"}
+{"uid":"15571572148945823913","text":"\u003ctask:success:discrete:True\u003e\nplace the tissue box on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the tissue box on the table\n\u003c/PRED\u003e","video":"17810629527520792723.mp4"}
+{"uid":"5791747267215748037","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":"18415972766224507517.mp4"}
+{"uid":"13298857195796394324","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sticky notes in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12090911323992423194.mp4"}
+{"uid":"6115528611266725969","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the white packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9431126748414029251.mp4"}
+{"uid":"4262076130628052492","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from box and place them on table organized Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the pen stand on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and place them on table organized. last 20 steps: 1- put the white packet in the jar 2- put the fruit gummies in the jar 3- place two white packets on the table 4- put a white packet in the jar 5- put a white packet in the jar 6- place the blur wire on the table 7- place the wipes packet on the table 8- place the tissue box on the table 9- put the pen stand on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen stand on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and place them on table organized. last 20 steps: 1- put the white packet in the jar 2- put the fruit gummies in the jar 3- place two white packets on the table 4- put a white packet in the jar 5- put a white packet in the jar 6- place the blur wire on the table 7- place the wipes packet on the table 8- place the tissue box on the table 9- put the pen stand on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"8505681019766930332.mp4"}
+{"uid":"16798802474915029923","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a small packet in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput a small packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from box and place them on table organized Q: immediate next step? \u003cPRED\u003eA: put a small packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a small packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and place them on table organized. last 20 steps: 1- put the white packet in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put a small packet in the jar 2- place two white packets on the table 3- put a white packet in the jar 4- put a white packet in the jar 5- place the blur wire on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a small packet in the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and place them on table organized. last 20 steps: 1- put the white packet in the jar Q: immediate next step? \u003cPRED\u003eA: put a small packet in the jar\n\u003c/PRED\u003e","video":"5165100619247034554.mp4"}
+{"uid":"4791867474109977994","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from box and place them on table organized Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place that pen holder on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace that pen holder 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: pick up items from box and place them on table organized. last 20 steps: 1- put the white packet in the jar 2- put the fruit gummies in the jar 3- place two white packets on the table 4- put a white packet in the jar 5- put a white packet in the jar 6- place the blur wire on the table 7- place the wipes packet on the table 8- place the tissue box on the table 9- place that pen holder on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and place them on table organized. last 20 steps: 1- put the white packet in the jar 2- put the fruit gummies in the jar 3- place two white packets on the table 4- put a white packet in the jar 5- put a white packet in the jar 6- place the blur wire on the table 7- place the wipes packet on the table 8- place the tissue box on the table 9- place that pen holder on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"4803913131276383127.mp4"}
+{"uid":"17830908469139441163","text":"\u003ctask:success:discrete:True\u003e\nput the white packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e","video":"9455255212024294581.mp4"}
+{"uid":"14044391105672775737","text":"\u003ctask:success:discrete:False\u003e\nplace two white packets on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from box and place them on table organized Q: immediate next step? \u003cPRED\u003eA: place two white packets on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and place them on table organized. last 20 steps: 1- put the white packet in the jar 2- put the fruit gummies in the jar Q: immediate next step? \u003cPRED\u003eA: place two white packets on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and place them on table organized. last 20 steps: 1- put the white packet in the jar 2- put the fruit gummies in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- place two white packets on the table 2- put a white packet in the jar 3- put a white packet in the jar 4- place the blur wire on the table 5- place the wipes packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace two white packets on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place two white packets on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place two white packets on the table\n\u003c/PRED\u003e","video":"3299770872648048413.mp4"}
+{"uid":"2446267188873199559","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":"4454657959168220775.mp4"}
+{"uid":"14934084949236570975","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a white packet in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a white packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a white packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and place them on table organized. last 20 steps: 1- put the white packet in the jar 2- put the fruit gummies in the jar 3- place two white packets on the table Q: immediate next step? \u003cPRED\u003eA: put a white packet in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from box and place them on table organized Q: immediate next step? \u003cPRED\u003eA: put a white packet in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and place them on table organized. last 20 steps: 1- put the white packet in the jar 2- put the fruit gummies in the jar 3- place two white packets on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put a white packet in the jar 2- place the wipes packet on the table 3- place the tissue box on the table 4- pick the pen holder 5- put the pen stand on the table\n\u003c/PRED\u003e","video":"851794297144434157.mp4"}
+{"uid":"15673316196568977934","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the white packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and place them on table organized. last 20 steps: 1- put the white packet in the jar 2- put the fruit gummies in the jar 3- place two white packets on the table Q: immediate next step? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and place them on table organized. last 20 steps: 1- put the white packet in the jar 2- put the fruit gummies in the jar 3- place two white packets on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packet in the jar 2- put a white packet in the jar 3- place the blur wire on the table 4- place the wipes packet on the table 5- place the tissue box on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from box and place them on table organized Q: immediate next step? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e","video":"7975852591419104629.mp4"}
+{"uid":"5747977225390876551","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the wire on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the wire 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":"15421427768652150896.mp4"}
+{"uid":"16548875476902124045","text":"\u003ctask:success:discrete:True\u003e\nput a small packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the fruit gummies in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the fruit gummies 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 a small packet in the jar\n\u003c/PRED\u003e","video":"5817511495434973508.mp4"}
+{"uid":"963815045288236413","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pen in holders Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8846554915090973600.mp4"}
+{"uid":"9227200979243817474","text":"\u003ctask:success:discrete:True\u003e\nplace the wipes packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the wipes packet on the table\n\u003c/PRED\u003e","video":"7182311055194056141.mp4"}
+{"uid":"17983374727291915117","text":"\u003ctask:success:discrete:True\u003e\nplace two white packets on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place two white packets on the table\n\u003c/PRED\u003e","video":"17935178742711879375.mp4"}
+{"uid":"13374991334344226705","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the brown box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13598189339449937601.mp4"}
+{"uid":"6913229202124698590","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the wire on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the wire on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and place them on table organized. last 20 steps: 1- put the white packet in the jar 2- put the fruit gummies in the jar 3- place two white packets on the table 4- put a white packet in the jar 5- put a white packet in the jar Q: immediate next step? \u003cPRED\u003eA: put the wire on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from box and place them on table organized Q: immediate next step? \u003cPRED\u003eA: put the wire on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the wire on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\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 on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and place them on table organized. last 20 steps: 1- put the white packet in the jar 2- put the fruit gummies in the jar 3- place two white packets on the table 4- put a white packet in the jar 5- put a white packet in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the wire on the table 2- place the tissue box on the table 3- pick the pen holder 4- put the pen stand on the table 5- done\n\u003c/PRED\u003e","video":"6960282550265893233.mp4"}
+{"uid":"17564408401914520513","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the white packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8878550718863073885.mp4"}
+{"uid":"12669781182802087794","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put orange and blue packet in jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput orange and blue packet in jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2789269424697292534.mp4"}
+{"uid":"16837264469950659716","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the yellow packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the yellow 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":"3339744503757944313.mp4"}
+{"uid":"7549488500377698934","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove to the sponge 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":"11424833514940996229.mp4"}
+{"uid":"18063431337295659216","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"10127621430172548840.mp4"}
+{"uid":"2192453903415305186","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the blur wire on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and place them on table organized. last 20 steps: 1- put the white packet in the jar 2- put the fruit gummies in the jar 3- place two white packets on the table 4- put a white packet in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- place the blur wire on the table 2- place the tissue box on the table 3- pick the pen holder 4- put the pen stand on the table 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the blur wire on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from box and place them on table organized Q: immediate next step? \u003cPRED\u003eA: place the blur wire on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the blur wire on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED: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 blur wire on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and place them on table organized. last 20 steps: 1- put the white packet in the jar 2- put the fruit gummies in the jar 3- place two white packets on the table 4- put a white packet in the jar Q: immediate next step? \u003cPRED\u003eA: place the blur wire on the table\n\u003c/PRED\u003e","video":"17044460043923035037.mp4"}
+{"uid":"9889155968311449107","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7280794764762016936.mp4"}
+{"uid":"11025835301152851846","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and place them on table organized. last 20 steps: 1- put the white packet in the jar 2- put the fruit gummies in the jar 3- place two white packets on the table 4- put a white packet in the jar Q: immediate next step? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and place them on table organized. last 20 steps: 1- put the white packet in the jar 2- put the fruit gummies in the jar 3- place two white packets on the table 4- put a white packet in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packet in the jar 2- place the blur wire on the table 3- place the wipes packet on the table 4- place the tissue box on the table 5- pick the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from box and place them on table organized Q: immediate next step? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e","video":"1586504980793418804.mp4"}
+{"uid":"15985502879178788414","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the blur wire on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the blur wire 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":"7576096420596394647.mp4"}
+{"uid":"13028824976299262798","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":"17485567504104924511.mp4"}
+{"uid":"8251942299142070383","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the red bowl on the 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":"13333281284552235911.mp4"}
+{"uid":"14893461937797155621","text":"\u003ctask:success:discrete:True\u003e\nput a candy into 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 a candy into jar\n\u003c/PRED\u003e","video":"15823482623444017461.mp4"}
+{"uid":"4332034921798219641","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the spoons in the spoons 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":"15452491171588433109.mp4"}
+{"uid":"74128118938531398","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put a brown packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput a brown packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17393976919081796385.mp4"}
+{"uid":"2959474750931006468","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachio in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1511407239513815235.mp4"}
+{"uid":"7531149520063413520","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- put a brown packet in the tray 2- place the packet in tray 3- place the packet in tray 4- place the packet in tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the tray 2- place the packet in tray 3- place the packet in tray 4- put yellow small packet in jar 5- place pink packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the 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:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar 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 chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- put a brown packet in the tray 2- place the packet in tray 3- place the packet in tray 4- place the packet in tray Q: immediate next step? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e","video":"15582298450889041223.mp4"}
+{"uid":"4846846633337857465","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the popcorn 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":"12181161561073121442.mp4"}
+{"uid":"16236251650833154413","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put a candy into jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput a candy into 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":"432624890738607467.mp4"}
+{"uid":"18147564229937171533","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I knocked over the supplies on my desk, can you please reorganize it for me? Q: immediate next step? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I knocked over the supplies on my desk, can you please reorganize it for me?. last 20 steps: 1- Put the holder upright 2- Move the holder in the right side 3- Put the pen in the holder 4- Put the pen in the holder 5- Put the pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pen in the holder 2- Arrange the pens in the holder 3- Put the sticky notes in the holder 4- Put the sticky notes in the holder 5- Arrange 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:affordance:discriminative:discrete:True\u003e\nPut the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I knocked over the supplies on my desk, can you please reorganize it for me?. last 20 steps: 1- Put the holder upright 2- Move the holder in the right side 3- Put the pen in the holder 4- Put the pen in the holder 5- Put the pen in the holder Q: immediate next step? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e","video":"15574269945767050178.mp4"}
+{"uid":"12806128282180722748","text":"\u003ctask:success:discrete:True\u003e\nplace pink packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place pink packet in the jar\n\u003c/PRED\u003e","video":"15459859296898777226.mp4"}
+{"uid":"14895909310444426023","text":"\u003ctask:success:discrete:True\u003e\nput a candy into 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 a candy into jar\n\u003c/PRED\u003e","video":"6618066330571935746.mp4"}
+{"uid":"9887878225229813659","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar 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 chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- put a brown packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the tray 2- place the packet in tray 3- place the packet in tray 4- place the packet in tray 5- place the packet in tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- put a brown packet 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","video":"10203150099487450683.mp4"}
+{"uid":"16120106901269431703","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":"3102537850507879715.mp4"}
+{"uid":"14364438195596743632","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":"8415445525053281005.mp4"}
+{"uid":"5686726721521618649","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- put a brown packet in the tray 2- place the packet in tray 3- place the packet in tray 4- place the packet in tray 5- place the packet in tray 6- place the packet in tray Q: next 5 steps? \u003cPRED\u003eA: 1- put a brown packet in the tray 2- place pink packet in the jar 3- place pink packet in the jar 4- place yellow packet in the jar 5- place pink packet in jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: put a brown packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a brown packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- put a brown packet in the tray 2- place the packet in tray 3- place the packet in tray 4- place the packet in tray 5- place the packet in tray 6- place the packet in tray Q: immediate next step? \u003cPRED\u003eA: put a brown packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a brown packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a brown 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":"13425847611971721366.mp4"}
+{"uid":"12310328078653883463","text":"\u003ctask:success:discrete:True\u003e\nput a brown packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put a brown packet in the tray\n\u003c/PRED\u003e","video":"11116296567150294527.mp4"}
+{"uid":"18112747318459951020","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar 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 chips in the basket tray, and then put the candy into the jar. 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: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 chips in the basket tray, and then put the candy into the jar. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the tray 2- place the packet in tray 3- place the packet in tray 4- place the packet in tray 5- place the packet in 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: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":"12536095190958842068.mp4"}
+{"uid":"15608123733502719292","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the packet in tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the packet in tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11892265251866825711.mp4"}
+{"uid":"7255676438849704306","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I knocked over the supplies on my desk, can you please reorganize it for me?. last 20 steps: 1- Put the holder upright 2- Move the holder in the right side 3- Put the pen in the holder 4- Put the pen in the holder 5- Put the pen in the holder 6- Put the pen in the holder 7- Arrange the pens in the holder 8- Put the sticky notes in the holder 9- Put the sticky notes in the holder 10- Arrange the pen in the holder 11- Move the holder in the forward Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove the holder in the 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I knocked over the supplies on my desk, can you please reorganize it for me?. last 20 steps: 1- Put the holder upright 2- Move the holder in the right side 3- Put the pen in the holder 4- Put the pen in the holder 5- Put the pen in the holder 6- Put the pen in the holder 7- Arrange the pens in the holder 8- Put the sticky notes in the holder 9- Put the sticky notes in the holder 10- Arrange the pen in the holder 11- Move the holder in the forward Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move the holder in the forward\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I knocked over the supplies on my desk, can you please reorganize it for me? Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"10844652850189781124.mp4"}
+{"uid":"7810182939781003426","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the packet in tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the packet in tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3583115676939317328.mp4"}
+{"uid":"6963540199480543335","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the packet in tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in tray 2- place the packet in tray 3- place the packet in tray 4- place the packet in tray 5- place the packet in tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: place the packet in tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet in tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet in tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11629668711754013403.mp4"}
+{"uid":"501440367986479193","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pistachio in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7675850124943981756.mp4"}
+{"uid":"18346770514012312","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: put a candy into jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- put a brown packet in the tray 2- place the packet in tray 3- place the packet in tray 4- place the packet in tray 5- place the packet in tray 6- place the packet in tray 7- place the packet in tray 8- put yellow small packet in jar 9- place pink packet in the jar 10- place pink packet in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put a candy into jar 2- place pink packet in jar 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a candy into 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 a candy into jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- put a brown packet in the tray 2- place the packet in tray 3- place the packet in tray 4- place the packet in tray 5- place the packet in tray 6- place the packet in tray 7- place the packet in tray 8- put yellow small packet in jar 9- place pink packet in the jar 10- place pink packet in the jar Q: immediate next step? \u003cPRED\u003eA: put a candy into jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a candy into jar\n\u003c/PRED\u003e","video":"3560903363427732716.mp4"}
+{"uid":"1054808423084769434","text":"\u003ctask:success:discrete:True\u003e\nput a candy into 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 a candy into jar\n\u003c/PRED\u003e","video":"7852728018602292675.mp4"}
+{"uid":"2756158830310828567","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- put a brown packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in tray 2- place the packet in tray 3- place the packet in tray 4- place the packet in tray 5- place the packet in tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- put a brown packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the packet in tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet in tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: place the packet in tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet in tray\n\u003c/PRED\u003e","video":"14107120353327734490.mp4"}
+{"uid":"1891790968679940650","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a brown packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: put a brown packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- put a brown packet in the tray Q: immediate next step? \u003cPRED\u003eA: put a brown packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a brown 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 chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- put a brown packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put a brown packet in the tray 2- place the packet in tray 3- place the packet in tray 4- place the packet in tray 5- place the packet in tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a brown packet in the tray\n\u003c/PRED\u003e","video":"16181791518229967869.mp4"}
+{"uid":"12292224868850887587","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the sticky notes in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the sticky notes in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15878644623771163676.mp4"}
+{"uid":"10610130273125693202","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the Chocolate in the glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3711952822129540200.mp4"}
+{"uid":"16819950726671069141","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pen 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":"11156738882662566872.mp4"}
+{"uid":"4975439145643709050","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick the green bag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"790674631401209003.mp4"}
+{"uid":"1949974143564527206","text":"\u003ctask:success:discrete:True\u003e\nplace pink packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place pink packet in the jar\n\u003c/PRED\u003e","video":"7287333913605818672.mp4"}
+{"uid":"17550332531352931040","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the packet in the tray\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:success:discrete:True\u003e\nplace the packet in tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the packet in tray\n\u003c/PRED\u003e","video":"15619572617755739460.mp4"}
+{"uid":"11063062662016035873","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- put a brown packet in the tray 2- place the packet in tray 3- place the packet in tray 4- place the packet in tray 5- place the packet in tray 6- place the packet in tray 7- place the packet in tray 8- put yellow small packet in jar 9- place pink packet in the jar 10- place pink packet in the jar 11- place yellow packet in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put a candy into jar 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a candy into 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 a candy into jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: put a candy into jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a candy into jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- put a brown packet in the tray 2- place the packet in tray 3- place the packet in tray 4- place the packet in tray 5- place the packet in tray 6- place the packet in tray 7- place the packet in tray 8- put yellow small packet in jar 9- place pink packet in the jar 10- place pink packet in the jar 11- place yellow packet in the jar Q: immediate next step? \u003cPRED\u003eA: put a candy into jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput a candy into 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":"9367111239087846861.mp4"}
+{"uid":"7378089468304517340","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a candy into jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- put a brown packet in the tray 2- place the packet in tray 3- place the packet in tray 4- place the packet in tray 5- place the packet in tray 6- place the packet in tray 7- place the packet in tray 8- put yellow small packet in jar 9- place pink packet in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put a candy into jar 2- place pink packet in jar 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a candy into 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: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: put a candy into jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- put a brown packet in the tray 2- place the packet in tray 3- place the packet in tray 4- place the packet in tray 5- place the packet in tray 6- place the packet in tray 7- place the packet in tray 8- put yellow small packet in jar 9- place pink packet in the jar Q: immediate next step? \u003cPRED\u003eA: put a candy into jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a candy into jar\n\u003c/PRED\u003e","video":"154611352285317294.mp4"}
+{"uid":"7444553257705331075","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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- put a brown packet in the tray 2- place the packet in 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: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 chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- put a brown packet in the tray 2- place the packet in tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the tray 2- place the packet in tray 3- place the packet in tray 4- place the packet in tray 5- place the packet in tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e","video":"4332734064424994173.mp4"}
+{"uid":"17305295109358628204","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: I knocked over the supplies on my desk, can you please reorganize it for me? Q: immediate next step? \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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I knocked over the supplies on my desk, can you please reorganize it for me?. last 20 steps: 1- Put the holder upright 2- Move the holder in the right side Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pen in the holder 2- Put the pen in the holder 3- Put the pen in the holder 4- Put the pen in the holder 5- Arrange 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 pen in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I knocked over the supplies on my desk, can you please reorganize it for me?. last 20 steps: 1- Put the holder upright 2- Move the holder in the right side 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: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":"10436983223792943128.mp4"}
+{"uid":"1156314538705626146","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":"16472906041946953532.mp4"}
+{"uid":"13782899626901292484","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pink candy 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pink candy in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: put the pink candy in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pink candy in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- put a brown packet in the tray 2- place the packet in tray 3- place the packet in tray 4- place the packet in tray 5- place the packet in tray 6- place the packet in tray 7- place the packet in tray 8- put yellow small packet in jar 9- place pink packet in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the pink candy in the jar 2- place yellow packet in the jar 3- place pink packet in jar 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- put a brown packet in the tray 2- place the packet in tray 3- place the packet in tray 4- place the packet in tray 5- place the packet in tray 6- place the packet in tray 7- place the packet in tray 8- put yellow small packet in jar 9- place pink packet in the jar Q: immediate next step? \u003cPRED\u003eA: put the pink candy in the jar\n\u003c/PRED\u003e","video":"16013956700986248931.mp4"}
+{"uid":"5196727554888676399","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candies in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8847318357043839006.mp4"}
+{"uid":"12281639757201932133","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put a brown packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput a brown packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17511882708558866150.mp4"}
+{"uid":"5698095129396682785","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9882583803884355548.mp4"}
+{"uid":"16360649542257378067","text":"\u003ctask:success:discrete:True\u003e\nput the pink candy 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 pink candy in the jar\n\u003c/PRED\u003e","video":"2728864430168823657.mp4"}
+{"uid":"8100597420044848691","text":"\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:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e","video":"7089051563519892574.mp4"}
+{"uid":"9692823480668650745","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput shovel 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":"6891876374122338367.mp4"}
+{"uid":"6088012826473752739","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":"5475127585807023657.mp4"}
+{"uid":"13876188113882621933","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nseparate the glass from stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17302165308735492462.mp4"}
+{"uid":"6350051959433370207","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a candy into jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a candy into 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: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- put a brown packet in the tray 2- place the packet in tray 3- place the packet in tray 4- place the packet in tray 5- place the packet in tray 6- place the packet in tray 7- place the packet in tray 8- put yellow small packet in jar Q: next 5 steps? \u003cPRED\u003eA: 1- put a candy into jar 2- place pink packet in the jar 3- place yellow packet in the jar 4- place pink packet in jar 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- put a brown packet in the tray 2- place the packet in tray 3- place the packet in tray 4- place the packet in tray 5- place the packet in tray 6- place the packet in tray 7- place the packet in tray 8- put yellow small packet in jar Q: immediate next step? \u003cPRED\u003eA: put a candy into jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a candy into jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: put a candy into jar\n\u003c/PRED\u003e","video":"8996042664653004829.mp4"}
+{"uid":"10624458857344570811","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: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:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- put a brown packet in the tray 2- place the packet in tray 3- place the packet in tray 4- place the packet in tray 5- place the packet in tray 6- place the packet in tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the tray 2- put yellow small packet in jar 3- place pink packet in the jar 4- place pink packet in the jar 5- place yellow packet in the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- put a brown packet in the tray 2- place the packet in tray 3- place the packet in tray 4- place the packet in tray 5- place the packet in tray 6- place the packet in 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","video":"7328154378558880299.mp4"}
+{"uid":"5012696141548717228","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put a candy into jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- put a brown packet in the tray 2- place the packet in tray 3- place the packet in tray 4- place the packet in tray 5- place the packet in tray 6- place the packet in tray 7- place the packet in tray 8- put yellow small packet in jar 9- place pink packet in the jar 10- place pink packet in the jar 11- place yellow packet in the jar 12- put a candy into jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- put a brown packet in the tray 2- place the packet in tray 3- place the packet in tray 4- place the packet in tray 5- place the packet in tray 6- place the packet in tray 7- place the packet in tray 8- put yellow small packet in jar 9- place pink packet in the jar 10- place pink packet in the jar 11- place yellow packet in the jar 12- put a candy into jar Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput a candy into 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":"16602623789450512699.mp4"}
+{"uid":"1138003357807804868","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the sticky notes in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the sticky notes in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I knocked over the supplies on my desk, can you please reorganize it for me?. last 20 steps: 1- Put the holder upright 2- Move the holder in the right side 3- Put the pen in the holder 4- Put the pen in the holder 5- Put the pen in the holder 6- Put the pen in the holder 7- Arrange the pens in the holder Q: immediate next step? \u003cPRED\u003eA: Put the sticky notes in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I knocked over the supplies on my desk, can you please reorganize it for me? Q: immediate next step? \u003cPRED\u003eA: Put the sticky notes in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the sticky notes in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I knocked over the supplies on my desk, can you please reorganize it for me?. last 20 steps: 1- Put the holder upright 2- Move the holder in the right side 3- Put the pen in the holder 4- Put the pen in the holder 5- Put the pen in the holder 6- Put the pen in the holder 7- Arrange the pens in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the sticky notes in the holder 2- Put the sticky notes in the holder 3- Arrange the pen in the holder 4- Move the holder in the forward 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the sticky notes in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17007560792886211412.mp4"}
+{"uid":"13972570631615987676","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: place pink packet in jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pink packet in jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- put a brown packet in the tray 2- place the packet in tray 3- place the packet in tray 4- place the packet in tray 5- place the packet in tray 6- place the packet in tray 7- place the packet in tray 8- put yellow small packet in jar 9- place pink packet in the jar 10- place pink packet in the jar 11- place yellow packet in the jar Q: immediate next step? \u003cPRED\u003eA: place pink packet in jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pink packet in jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pink packet in jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- put a brown packet in the tray 2- place the packet in tray 3- place the packet in tray 4- place the packet in tray 5- place the packet in tray 6- place the packet in tray 7- place the packet in tray 8- put yellow small packet in jar 9- place pink packet in the jar 10- place pink packet in the jar 11- place yellow packet in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- place pink packet in jar 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace pink packet in jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10300593286635795801.mp4"}
+{"uid":"12946137871336021732","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nthrow crushed paper in the trash bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18154032026003979633.mp4"}
+{"uid":"14704497511829642018","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the cup upright Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14504788691391190185.mp4"}
+{"uid":"17723421468501331735","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a brown packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: put a brown packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- put a brown packet in the tray 2- place the packet in tray 3- place the packet in tray 4- place the packet in tray 5- place the packet in tray Q: immediate next step? \u003cPRED\u003eA: put a brown packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a brown packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- put a brown packet in the tray 2- place the packet in tray 3- place the packet in tray 4- place the packet in tray 5- place the packet in tray Q: next 5 steps? \u003cPRED\u003eA: 1- put a brown packet in the tray 2- put yellow small packet in jar 3- place pink packet in the jar 4- place pink packet in the jar 5- place yellow packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a brown 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":"3885527401520793013.mp4"}
+{"uid":"14758279519205484544","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove towards the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13367625580484588142.mp4"}
+{"uid":"12889400331327181604","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":"6544709097040837831.mp4"}
+{"uid":"12427057138648889010","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace that 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":"12598008240580845238.mp4"}
+{"uid":"1362254817822158373","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput grey cloth in the grey 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":"12907883080759937196.mp4"}
+{"uid":"13066321115739314850","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nMove the holder in the 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\nMove the holder in the forward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move the holder in the forward\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move the holder in the forward\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I knocked over the supplies on my desk, can you please reorganize it for me?. last 20 steps: 1- Put the holder upright 2- Move the holder in the right side 3- Put the pen in the holder 4- Put the pen in the holder 5- Put the pen in the holder 6- Put the pen in the holder 7- Arrange the pens in the holder 8- Put the sticky notes in the holder 9- Put the sticky notes in the holder 10- Arrange the pen in the holder Q: immediate next step? \u003cPRED\u003eA: Move the holder in the forward\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I knocked over the supplies on my desk, can you please reorganize it for me?. last 20 steps: 1- Put the holder upright 2- Move the holder in the right side 3- Put the pen in the holder 4- Put the pen in the holder 5- Put the pen in the holder 6- Put the pen in the holder 7- Arrange the pens in the holder 8- Put the sticky notes in the holder 9- Put the sticky notes in the holder 10- Arrange the pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Move the holder in the forward 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I knocked over the supplies on my desk, can you please reorganize it for me? Q: immediate next step? \u003cPRED\u003eA: Move the holder in the forward\n\u003c/PRED\u003e","video":"11152583778189174374.mp4"}
+{"uid":"17066826055985901067","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ngrasp the left indoor plant Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16455265416701708039.mp4"}
+{"uid":"17012231154570018348","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- put a brown packet in the tray 2- place the packet in tray 3- place the packet in tray 4- place the packet in tray 5- place the packet in tray 6- place the packet in tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in tray 2- put yellow small packet in jar 3- place pink packet in the jar 4- place pink packet in the jar 5- place yellow packet in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: place the packet in tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- put a brown packet in the tray 2- place the packet in tray 3- place the packet in tray 4- place the packet in tray 5- place the packet in tray 6- place the packet in tray Q: immediate next step? \u003cPRED\u003eA: place the packet in tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet in tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet in tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3461495310267651138.mp4"}
+{"uid":"15703061511214392868","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the avocado 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":"6323556876353213377.mp4"}
+{"uid":"8512963605698744286","text":"\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:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e","video":"732111824949143384.mp4"}
+{"uid":"17862231641863928819","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput a candy into 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: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: put a candy into jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a candy into jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- put a brown packet in the tray 2- place the packet in tray 3- place the packet in tray 4- place the packet in tray 5- place the packet in tray 6- place the packet in tray 7- place the packet in tray Q: immediate next step? \u003cPRED\u003eA: put a candy into jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- put a brown packet in the tray 2- place the packet in tray 3- place the packet in tray 4- place the packet in tray 5- place the packet in tray 6- place the packet in tray 7- place the packet in tray Q: next 5 steps? \u003cPRED\u003eA: 1- put a candy into jar 2- place pink packet in the jar 3- place pink packet in the jar 4- place yellow packet in the jar 5- place pink packet in jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput a candy into 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 a candy into jar\n\u003c/PRED\u003e","video":"3435523799269135224.mp4"}
+{"uid":"15472959869305255713","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I knocked over the supplies on my desk, can you please reorganize it for me?. last 20 steps: 1- Put the holder upright 2- Move the holder in the right side 3- Put the pen in the holder 4- Put the pen in the holder 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I knocked over the supplies on my desk, can you please reorganize it for me?. last 20 steps: 1- Put the holder upright 2- Move the holder in the right side 3- Put the pen in the holder 4- Put the pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pen in the holder 2- Put the pen in the holder 3- Arrange the pens in the holder 4- Put the sticky notes in the holder 5- Put the sticky notes in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I knocked over the supplies on my desk, can you please reorganize it for me? Q: immediate next step? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e","video":"8765192990839406361.mp4"}
+{"uid":"10212631910347651367","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":"14760679950425447742.mp4"}
+{"uid":"3578777163381111366","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":"5045248523456266542.mp4"}
+{"uid":"1959244265815080018","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the yellow candy in the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- put a brown packet in the tray 2- place the packet in tray 3- place the packet in tray 4- place the packet in tray 5- place the packet in tray 6- place the packet in tray 7- place the packet in tray 8- put yellow small packet in jar 9- place pink packet in the jar 10- place pink packet in the jar Q: immediate next step? \u003cPRED\u003eA: put the yellow candy in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the yellow candy 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: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- put a brown packet in the tray 2- place the packet in tray 3- place the packet in tray 4- place the packet in tray 5- place the packet in tray 6- place the packet in tray 7- place the packet in tray 8- put yellow small packet in jar 9- place pink packet in the jar 10- place pink packet in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the yellow candy in the jar 2- place pink packet in jar 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the yellow candy in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: put the yellow candy in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the yellow candy 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":"13249948194499801338.mp4"}
+{"uid":"6176681237605301650","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- put a brown packet in the tray 2- place the packet in tray 3- place the packet in tray Q: next 5 steps? \u003cPRED\u003eA: 1- put a brown packet in the tray 2- place the packet in tray 3- place the packet in tray 4- put yellow small packet in jar 5- place pink packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a brown 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 chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- put a brown packet in the tray 2- place the packet in tray 3- place the packet in tray Q: immediate next step? \u003cPRED\u003eA: put a brown packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a brown packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a brown packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: put a brown packet in the tray\n\u003c/PRED\u003e","video":"7203784593769268279.mp4"}
+{"uid":"4068456029922544026","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar 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 chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- put a brown packet in the tray 2- place the packet in tray 3- place the packet in tray 4- place the packet in tray 5- place the packet in tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the tray 2- place the packet in tray 3- put yellow small packet in jar 4- place pink packet in the jar 5- place pink packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- put a brown packet in the tray 2- place the packet in tray 3- place the packet in tray 4- place the packet in tray 5- place the packet in 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":"9168621977936772537.mp4"}
+{"uid":"15225487879483609807","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":"2083361609197302740.mp4"}
+{"uid":"6554775867518293145","text":"\u003ctask:success:discrete:False\u003e\nput the yellow candy 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 yellow candy in the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- put a brown packet in the tray 2- place the packet in tray 3- place the packet in tray 4- place the packet in tray 5- place the packet in tray 6- place the packet in tray 7- place the packet in tray Q: immediate next step? \u003cPRED\u003eA: put the yellow candy in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: put the yellow candy in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- put a brown packet in the tray 2- place the packet in tray 3- place the packet in tray 4- place the packet in tray 5- place the packet in tray 6- place the packet in tray 7- place the packet in tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the yellow candy in the jar 2- place pink packet in the jar 3- place pink packet in the jar 4- place yellow packet in the jar 5- place pink packet in jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the yellow candy 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the yellow candy in the jar\n\u003c/PRED\u003e","video":"14094591106687037993.mp4"}
+{"uid":"16292908646746619731","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the packet in tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the packet in tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16100577106261824281.mp4"}
+{"uid":"11128182122285636045","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":"14071223955749438958.mp4"}
+{"uid":"9048796661416663726","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I knocked over the supplies on my desk, can you please reorganize it for me?. last 20 steps: 1- Put the holder upright 2- Move the holder in the right side 3- Put the pen in the holder 4- Put the pen in the holder 5- Put the pen in the holder 6- Put the pen in the holder 7- Arrange the pens in the holder 8- Put the sticky notes in the holder Q: immediate next step? \u003cPRED\u003eA: Put the sticky notes in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the sticky notes in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the sticky notes in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I knocked over the supplies on my desk, can you please reorganize it for me? Q: immediate next step? \u003cPRED\u003eA: Put the sticky notes in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the sticky notes in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the sticky notes in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I knocked over the supplies on my desk, can you please reorganize it for me?. last 20 steps: 1- Put the holder upright 2- Move the holder in the right side 3- Put the pen in the holder 4- Put the pen in the holder 5- Put the pen in the holder 6- Put the pen in the holder 7- Arrange the pens in the holder 8- Put the sticky notes in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the sticky notes in the holder 2- Arrange the pen in the holder 3- Move the holder in the forward 4- done\n\u003c/PRED\u003e","video":"2395110933317840760.mp4"}
+{"uid":"15010899166494748647","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the sticky notes in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the sticky notes in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5921454985252387477.mp4"}
+{"uid":"9115064222883779652","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put a brown packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput a brown packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16064156610500780968.mp4"}
+{"uid":"8117230201270794960","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nunstack 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":"4113035102353012731.mp4"}
+{"uid":"7564250401429285205","text":"\u003ctask:success:discrete:True\u003e\nput a brown packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put a brown packet in the tray\n\u003c/PRED\u003e","video":"1338428352673401754.mp4"}
+{"uid":"3980564393140058960","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the packet in tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the packet in tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7725863164346909401.mp4"}
+{"uid":"7325814189193860903","text":"\u003ctask:success:discrete:True\u003e\nput yellow small packet in jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put yellow small packet in jar\n\u003c/PRED\u003e","video":"15912645868286924140.mp4"}
+{"uid":"1741013435639067480","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":"8864076792339274079.mp4"}
+{"uid":"6836239486755881233","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: put a brown packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a brown packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- put a brown packet in the tray 2- place the packet in tray 3- place the packet in tray 4- place the packet in tray Q: next 5 steps? \u003cPRED\u003eA: 1- put a brown packet in the tray 2- place the packet in tray 3- put yellow small packet in jar 4- place pink packet in the jar 5- place pink packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a brown packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- put a brown packet in the tray 2- place the packet in tray 3- place the packet in tray 4- place the packet in tray Q: immediate next step? \u003cPRED\u003eA: put a brown packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a brown 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":"4409531987536304064.mp4"}
+{"uid":"12292616607546957812","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the hen toy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16222507948093554962.mp4"}
+{"uid":"9298655410916104731","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the rooibos 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":"12717866724302807126.mp4"}
+{"uid":"3123787627056096009","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the green chocolates 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":"3348607741375265547.mp4"}
+{"uid":"3735918289097476187","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the orange snack 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":"370103032802962488.mp4"}
+{"uid":"14806297909775572897","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet in tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet in tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- put a brown packet in the tray 2- place the packet in tray 3- place the packet in tray 4- place the packet in tray 5- place the packet in tray Q: immediate next step? \u003cPRED\u003eA: place the packet in tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- put a brown packet in the tray 2- place the packet in tray 3- place the packet in tray 4- place the packet in tray 5- place the packet in tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in tray 2- place the packet in tray 3- put yellow small packet in jar 4- place pink packet in the jar 5- place pink packet in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: place the packet in tray\n\u003c/PRED\u003e","video":"17799706775505001290.mp4"}
+{"uid":"13909702291022904026","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the blue pen in the right holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11016130495611309411.mp4"}
+{"uid":"4331905145099572007","text":"\u003ctask:success:discrete:True\u003e\nplace the packet in tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the packet in tray\n\u003c/PRED\u003e","video":"16954961981998313498.mp4"}
+{"uid":"4870822571202448004","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: put the pink candy in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- put a brown packet in the tray 2- place the packet in tray 3- place the packet in tray 4- place the packet in tray 5- place the packet in tray 6- place the packet in tray 7- place the packet in tray 8- put yellow small packet in jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the pink candy in the jar 2- place pink packet in the jar 3- place yellow packet in the jar 4- place pink packet in jar 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- put a brown packet in the tray 2- place the packet in tray 3- place the packet in tray 4- place the packet in tray 5- place the packet in tray 6- place the packet in tray 7- place the packet in tray 8- put yellow small packet in jar Q: immediate next step? \u003cPRED\u003eA: put the pink candy in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pink candy in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pink candy 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 pink candy in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pink candy 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":"2228898152633014894.mp4"}
+{"uid":"13118052054736978346","text":"\u003ctask:success:discrete:True\u003e\nput the yellow candy 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 yellow candy in the jar\n\u003c/PRED\u003e","video":"651350541300860905.mp4"}
+{"uid":"2005911514928045153","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: place the packet in tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- put a brown packet in the tray 2- place the packet in tray 3- place the packet in tray 4- place the packet in tray Q: immediate next step? \u003cPRED\u003eA: place the packet in tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- put a brown packet in the tray 2- place the packet in tray 3- place the packet in tray 4- place the packet in tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in tray 2- place the packet in tray 3- place the packet in tray 4- put yellow small packet in jar 5- place pink packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet in tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet in tray\n\u003c/PRED\u003e","video":"16733628203568269435.mp4"}
+{"uid":"13175594208797917320","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the yellow candy in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the yellow candy 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":"13890657195268143155.mp4"}
+{"uid":"14870761104075214211","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place yellow packet in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace yellow packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16291819473973567589.mp4"}
+{"uid":"1678715977470483400","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pink packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pink packet in the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- put a brown packet in the tray 2- place the packet in tray 3- place the packet in tray 4- place the packet in tray 5- place the packet in tray 6- place the packet in tray 7- place the packet in tray 8- put yellow small packet in jar 9- place pink packet in the jar Q: immediate next step? \u003cPRED\u003eA: place pink packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pink packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- put a brown packet in the tray 2- place the packet in tray 3- place the packet in tray 4- place the packet in tray 5- place the packet in tray 6- place the packet in tray 7- place the packet in tray 8- put yellow small packet in jar 9- place pink packet in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- place pink packet in the jar 2- place yellow packet in the jar 3- place pink packet in jar 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: place pink packet in the jar\n\u003c/PRED\u003e","video":"8474319869214028527.mp4"}
+{"uid":"618436292723793316","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pink candy in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the pink candy 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":"8339019856769232322.mp4"}
+{"uid":"13980097503630044442","text":"\u003ctask:success:discrete:False\u003e\nplace yellow packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- put a brown packet in the tray 2- place the packet in tray 3- place the packet in tray 4- place the packet in tray 5- place the packet in tray 6- place the packet in tray 7- place the packet in tray 8- put yellow small packet in jar 9- place pink packet in the jar 10- place pink packet in the jar Q: immediate next step? \u003cPRED\u003eA: place yellow packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace yellow packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place yellow packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place yellow packet in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- put a brown packet in the tray 2- place the packet in tray 3- place the packet in tray 4- place the packet in tray 5- place the packet in tray 6- place the packet in tray 7- place the packet in tray 8- put yellow small packet in jar 9- place pink packet in the jar 10- place pink packet in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- place yellow packet in the jar 2- place pink packet in jar 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: place yellow packet in the jar\n\u003c/PRED\u003e","video":"5353695786031809569.mp4"}
+{"uid":"14049084099581453120","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nClose the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12462998099414176536.mp4"}
+{"uid":"12193109889986131883","text":"\u003ctask:success:discrete:True\u003e\nput a brown packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put a brown packet in the tray\n\u003c/PRED\u003e","video":"8115332216443446249.mp4"}
+{"uid":"11480103929797747631","text":"\u003ctask:success:discrete:False\u003e\nplace pink packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- put a brown packet in the tray 2- place the packet in tray 3- place the packet in tray 4- place the packet in tray 5- place the packet in tray 6- place the packet in tray 7- place the packet in tray 8- put yellow small packet in jar Q: immediate next step? \u003cPRED\u003eA: place pink packet in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: place pink packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pink packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pink packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pink packet in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- put a brown packet in the tray 2- place the packet in tray 3- place the packet in tray 4- place the packet in tray 5- place the packet in tray 6- place the packet in tray 7- place the packet in tray 8- put yellow small packet in jar Q: next 5 steps? \u003cPRED\u003eA: 1- place pink packet in the jar 2- place pink packet in the jar 3- place yellow packet in the jar 4- place pink packet in jar 5- done\n\u003c/PRED\u003e","video":"13088807742782367529.mp4"}
+{"uid":"9417264953040471264","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- put a brown packet in the tray 2- place the packet in tray 3- place the packet in tray Q: immediate next step? \u003cPRED\u003eA: place the packet in tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet in tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet in tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: place the packet in tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- put a brown packet in the tray 2- place the packet in tray 3- place the packet in tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in tray 2- place the packet in tray 3- place the packet in tray 4- place the packet in tray 5- put yellow small packet in jar\n\u003c/PRED\u003e","video":"17048041168959570124.mp4"}
+{"uid":"8406962141877693952","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- put a brown packet in the tray 2- place the packet in tray 3- place the packet in tray 4- place the packet in tray 5- place the packet in tray 6- place the packet in tray 7- place the packet in tray Q: immediate next step? \u003cPRED\u003eA: put yellow small packet in jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: put yellow small packet in jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput yellow small packet in jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput yellow small packet in jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put yellow small packet in jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put yellow small packet in jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- put a brown packet in the tray 2- place the packet in tray 3- place the packet in tray 4- place the packet in tray 5- place the packet in tray 6- place the packet in tray 7- place the packet in tray Q: next 5 steps? \u003cPRED\u003eA: 1- put yellow small packet in jar 2- place pink packet in the jar 3- place pink packet in the jar 4- place yellow packet in the jar 5- place pink packet in jar\n\u003c/PRED\u003e","video":"2968156838483308329.mp4"}
+{"uid":"6475930043151603510","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":"17477897631850315276.mp4"}
+{"uid":"10294143918076427366","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet in tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the packet in tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the packet in tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in tray 2- place the packet in tray 3- place the packet in tray 4- place the packet in tray 5- place the packet in tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: place the packet in tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet in tray\n\u003c/PRED\u003e","video":"1307132254761932488.mp4"}
+{"uid":"12804469260691329645","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nturn 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":"6952524037101728494.mp4"}
+{"uid":"329964690537394582","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16780556579850574092.mp4"}
+{"uid":"4911051930872072576","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Arrange the pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nArrange 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I knocked over the supplies on my desk, can you please reorganize it for me?. last 20 steps: 1- Put the holder upright 2- Move the holder in the right side 3- Put the pen in the holder 4- Put the pen in the holder 5- Put the pen in the holder 6- Put the pen in the holder 7- Arrange the pens in the holder 8- Put the sticky notes in the holder 9- Put the sticky notes in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Arrange the pen in the holder 2- Move the holder in the forward 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nArrange the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I knocked over the supplies on my desk, can you please reorganize it for me? Q: immediate next step? \u003cPRED\u003eA: Arrange the pen in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I knocked over the supplies on my desk, can you please reorganize it for me?. last 20 steps: 1- Put the holder upright 2- Move the holder in the right side 3- Put the pen in the holder 4- Put the pen in the holder 5- Put the pen in the holder 6- Put the pen in the holder 7- Arrange the pens in the holder 8- Put the sticky notes in the holder 9- Put the sticky notes in the holder Q: immediate next step? \u003cPRED\u003eA: Arrange the pen in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Arrange the pen in the holder\n\u003c/PRED\u003e","video":"2931483280134327512.mp4"}
+{"uid":"4996395210397859359","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: I knocked over the supplies on my desk, can you please reorganize it for me? Q: immediate next step? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I knocked over the supplies on my desk, can you please reorganize it for me?. last 20 steps: 1- Put the holder upright 2- Move the holder in the right side 3- Put the pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pen in the holder 2- Put the pen in the holder 3- Put the pen in the holder 4- Arrange the pens in the holder 5- Put the sticky notes in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I knocked over the supplies on my desk, can you please reorganize it for me?. last 20 steps: 1- Put the holder upright 2- Move the holder in the right side 3- Put the pen in the 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","video":"8323922904131964974.mp4"}
+{"uid":"8507601497352853143","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":"8631765709800414864.mp4"}
+{"uid":"9470012056393248589","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the apple 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":"1166449002834673864.mp4"}
+{"uid":"9723532336595759300","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pink candy in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pink candy 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: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: put the pink candy in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pink candy 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: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- put a brown packet in the tray 2- place the packet in tray 3- place the packet in tray 4- place the packet in tray 5- place the packet in tray 6- place the packet in tray 7- place the packet in tray 8- put yellow small packet in jar 9- place pink packet in the jar 10- place pink packet in the jar 11- place yellow packet in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the pink candy 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 pink candy in the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- put a brown packet in the tray 2- place the packet in tray 3- place the packet in tray 4- place the packet in tray 5- place the packet in tray 6- place the packet in tray 7- place the packet in tray 8- put yellow small packet in jar 9- place pink packet in the jar 10- place pink packet in the jar 11- place yellow packet in the jar Q: immediate next step? \u003cPRED\u003eA: put the pink candy in the jar\n\u003c/PRED\u003e","video":"8963132556072394820.mp4"}
+{"uid":"9578816001928209476","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the packet in tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the packet in tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12463022141343900612.mp4"}
+{"uid":"18420519280674755062","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the toy in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8224983371273399767.mp4"}
+{"uid":"2849797557161927352","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":"17055947646628560586.mp4"}
+{"uid":"8436066867407881476","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17165203732230890512.mp4"}
+{"uid":"4522755632753561380","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":"2832328626412120790.mp4"}
+{"uid":"13198293854993802062","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace pink packet in jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- put a brown packet in the tray 2- place the packet in tray 3- place the packet in tray 4- place the packet in tray 5- place the packet in tray 6- place the packet in tray 7- place the packet in tray 8- put yellow small packet in jar 9- place pink packet in the jar 10- place pink packet in the jar 11- place yellow packet in the jar 12- place pink packet in jar Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place pink packet in jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- put a brown packet in the tray 2- place the packet in tray 3- place the packet in tray 4- place the packet in tray 5- place the packet in tray 6- place the packet in tray 7- place the packet in tray 8- put yellow small packet in jar 9- place pink packet in the jar 10- place pink packet in the jar 11- place yellow packet in the jar 12- place pink packet in jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"14184102566940400613.mp4"}
+{"uid":"16476333567189424214","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: I knocked over the supplies on my desk, can you please reorganize it for me? Q: immediate next step? \u003cPRED\u003eA: Put the holder upright\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the holder upright\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I knocked over the supplies on my desk, can you please reorganize it for me?. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the holder upright 2- Move the holder in the right side 3- Put the pen in the holder 4- Put the pen in the holder 5- Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I knocked over the supplies on my desk, can you please reorganize it for me?. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the holder upright\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut 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:success:discrete:False\u003e\nPut 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the holder upright\n\u003c/PRED\u003e","video":"4315117466068596514.mp4"}
+{"uid":"10661829916924264851","text":"\u003ctask:success:discrete:False\u003e\nArrange 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I knocked over the supplies on my desk, can you please reorganize it for me?. last 20 steps: 1- Put the holder upright 2- Move the holder in the right side 3- Put the pen in the holder 4- Put the pen in the holder 5- Put the pen in the holder 6- Put the pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Arrange the pens in the holder 2- Put the sticky notes in the holder 3- Put the sticky notes in the holder 4- Arrange the pen in the holder 5- Move the holder in the forward\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Arrange the pens in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nArrange 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: I knocked over the supplies on my desk, can you please reorganize it for me? Q: immediate next step? \u003cPRED\u003eA: Arrange the pens in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Arrange the pens in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I knocked over the supplies on my desk, can you please reorganize it for me?. last 20 steps: 1- Put the holder upright 2- Move the holder in the right side 3- Put the pen in the holder 4- Put the pen in the holder 5- Put the pen in the holder 6- Put the pen in the holder Q: immediate next step? \u003cPRED\u003eA: Arrange the pens in the holder\n\u003c/PRED\u003e","video":"17142286192878581860.mp4"}
+{"uid":"6435567728476597419","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: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 chips in the basket tray, and then put the candy into the jar 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 chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- put a brown packet in the tray 2- place the packet in tray 3- place the packet in tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the tray 2- place the packet in tray 3- place the packet in tray 4- place the packet in tray 5- put yellow small packet in jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- put a brown packet in the tray 2- place the packet in tray 3- place the packet in tray Q: immediate next step? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e","video":"14453859032211442105.mp4"}
+{"uid":"6687756055093243971","text":"\u003ctask:success:discrete:True\u003e\nput a brown packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put a brown packet in the tray\n\u003c/PRED\u003e","video":"16046025674088631810.mp4"}
+{"uid":"8328416684651814236","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- put a brown packet in the tray 2- place the packet in tray Q: immediate next step? \u003cPRED\u003eA: put a brown packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- put a brown packet in the tray 2- place the packet in tray Q: next 5 steps? \u003cPRED\u003eA: 1- put a brown packet in the tray 2- place the packet in tray 3- place the packet in tray 4- place the packet in tray 5- place the packet in tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a brown 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 chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: put a brown packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a brown packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a brown packet in the tray\n\u003c/PRED\u003e","video":"6978599231811692551.mp4"}
+{"uid":"5034279574765751875","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":"16043173918380152914.mp4"}
+{"uid":"17191918505041480209","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput plastic knife 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":"2086722828459454333.mp4"}
+{"uid":"5368438353756240567","text":"\u003ctask:success:discrete:False\u003e\nMove the holder in the right side Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I knocked over the supplies on my desk, can you please reorganize it for me?. last 20 steps: 1- Put the holder upright Q: immediate next step? \u003cPRED\u003eA: Move the holder in the right side\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I knocked over the supplies on my desk, can you please reorganize it for me? Q: immediate next step? \u003cPRED\u003eA: Move the holder in the right side\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move the holder in the right side\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I knocked over the supplies on my desk, can you please reorganize it for me?. last 20 steps: 1- Put the holder upright Q: next 5 steps? \u003cPRED\u003eA: 1- Move the holder in the right side 2- Put the pen in the holder 3- Put the pen in the holder 4- Put the pen in the holder 5- Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove the holder in the right side Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move the holder in the right side\n\u003c/PRED\u003e","video":"3614300293151012049.mp4"}
+{"uid":"8323139737702643554","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace pink 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":"7817750953933924506.mp4"}
+{"uid":"17918781964271964495","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the 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":"2523392977089257157.mp4"}
+{"uid":"14053397246751296262","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruits back in the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put apple in the bowl 2- put pear in the bowl 3- put pear in the bowl 4- put apple in the bowl 5- put apple in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the fruits back in the bowl Q: immediate next step? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruits back in the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e","video":"14647070846816018600.mp4"}
+{"uid":"16832873556954153371","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the glass upside down Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9708406074465426961.mp4"}
+{"uid":"13109993809490334305","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: refill fruit bowls in MK. last 20 steps: 1- place the orange in the bowl 2- place the orange in the bowl 3- Put the orange in the right bowl 4- place the orange in the bowl 5- Put the orange in the right bowl 6- Put the apple in the left bowl 7- place the apple in the bowl 8- place the apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the apple into the white bowl 2- Put the apple in the left bowl 3- Place the tray at back on the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the apple into the white bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the apple into the white bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: refill fruit bowls in MK Q: immediate next step? \u003cPRED\u003eA: put the apple into the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the apple into the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: refill fruit bowls in MK. last 20 steps: 1- place the orange in the bowl 2- place the orange in the bowl 3- Put the orange in the right bowl 4- place the orange in the bowl 5- Put the orange in the right bowl 6- Put the apple in the left bowl 7- place the apple in the bowl 8- place the apple in the bowl Q: immediate next step? \u003cPRED\u003eA: put the apple into the white bowl\n\u003c/PRED\u003e","video":"3594687052236606799.mp4"}
+{"uid":"3186608563042080571","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":"14187531531928234959.mp4"}
+{"uid":"9255401716060760620","text":"\u003ctask:success:discrete:False\u003e\nPut the apple in the left 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: refill fruit bowls in MK. last 20 steps: 1- place the orange in the bowl 2- place the orange in the bowl 3- Put the orange in the right bowl 4- place the orange in the bowl 5- Put the orange in the right bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the apple in the left bowl 2- place the apple in the bowl 3- place the apple in the bowl 4- place the apple in the bowl 5- Put the apple in the left bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: refill fruit bowls in MK Q: immediate next step? \u003cPRED\u003eA: Put the apple in the left bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the apple in the left bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: refill fruit bowls in MK. last 20 steps: 1- place the orange in the bowl 2- place the orange in the bowl 3- Put the orange in the right bowl 4- place the orange in the bowl 5- Put the orange in the right bowl Q: immediate next step? \u003cPRED\u003eA: Put the apple in the left 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 left bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the apple in the left bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17342675726000680516.mp4"}
+{"uid":"11138085827533319350","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue pen in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7132014222179609787.mp4"}
+{"uid":"4514262655428391650","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the pistachio in a cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17057483567839292501.mp4"}
+{"uid":"7907189709320468965","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pear in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pear in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the fruits back in the bowl Q: immediate next step? \u003cPRED\u003eA: put pear in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruits back in the bowl. last 20 steps: 1- put apple in the bowl 2- put pear in the bowl 3- put pear in the bowl 4- put apple in the bowl 5- put apple in the bowl 6- put pear in the bowl Q: immediate next step? \u003cPRED\u003eA: put pear in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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: put all the fruits back in the bowl. last 20 steps: 1- put apple in the bowl 2- put pear in the bowl 3- put pear in the bowl 4- put apple in the bowl 5- put apple in the bowl 6- put pear in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put pear in the bowl 2- put pear in the bowl 3- put apple in the bowl 4- done\n\u003c/PRED\u003e","video":"6299550036938403191.mp4"}
+{"uid":"14282194484904317580","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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 pear in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruits back in the bowl. last 20 steps: 1- put apple in the bowl 2- put pear in the bowl 3- put pear in the bowl 4- put apple in the bowl 5- put apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put pear in the bowl 2- put pear in the bowl 3- put pear in the bowl 4- put 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 pear in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput 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: put all the fruits back in the bowl. last 20 steps: 1- put apple in the bowl 2- put pear in the bowl 3- put pear in the bowl 4- put apple in the bowl 5- put apple in the bowl Q: immediate next step? \u003cPRED\u003eA: put pear in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the fruits back in the bowl Q: immediate next step? \u003cPRED\u003eA: put pear in the bowl\n\u003c/PRED\u003e","video":"7215101205623075555.mp4"}
+{"uid":"12744900711864781010","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: refill fruit bowls in MK Q: immediate next step? \u003cPRED\u003eA: Put the apple in the left bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the apple in the left bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: refill fruit bowls in MK. last 20 steps: 1- place the orange in the bowl 2- place the orange in the bowl 3- Put the orange in the right bowl 4- place the orange in the bowl 5- Put the orange in the right bowl 6- Put the apple in the left bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the apple in the left bowl 2- place the apple in the bowl 3- place the apple in the bowl 4- Put the apple in the left bowl 5- Place the tray at back on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: refill fruit bowls in MK. last 20 steps: 1- place the orange in the bowl 2- place the orange in the bowl 3- Put the orange in the right bowl 4- place the orange in the bowl 5- Put the orange in the right bowl 6- Put the apple in the left bowl Q: immediate next step? \u003cPRED\u003eA: Put the apple in the left 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 left bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the apple in the left bowl\n\u003c/PRED\u003e","video":"2351375101214075591.mp4"}
+{"uid":"8284037687068587113","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nWipe the board Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nWipe the board Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Wipe off the drawing on the whiteboard Q: immediate next step? \u003cPRED\u003eA: Wipe the board\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Wipe the board\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Wipe the board\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Wipe off the drawing on the whiteboard. last 20 steps: 1- pick up the cloth Q: next 5 steps? \u003cPRED\u003eA: 1- Wipe the board 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Wipe off the drawing on the whiteboard. last 20 steps: 1- pick up the cloth Q: immediate next step? \u003cPRED\u003eA: Wipe the board\n\u003c/PRED\u003e","video":"17257645826212062617.mp4"}
+{"uid":"14257767225654948842","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":"13081628231579049628.mp4"}
+{"uid":"17993245110981744840","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the glass stack on existing stack in the glass 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":"14171298900691122851.mp4"}
+{"uid":"6022195219706784855","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet into the black container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1287463425382718115.mp4"}
+{"uid":"7494936895946384728","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: refill fruit bowls in MK Q: immediate next step? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: refill fruit bowls in MK. last 20 steps: 1- place the orange in the bowl 2- place the orange in the bowl 3- Put the orange in the right bowl 4- place the orange in the bowl 5- Put the orange in the right bowl 6- Put the apple in the left bowl 7- place the apple in the bowl 8- place the apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the apple in the bowl 2- Put the apple in the left bowl 3- Place the tray at back on the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: refill fruit bowls in MK. last 20 steps: 1- place the orange in the bowl 2- place the orange in the bowl 3- Put the orange in the right bowl 4- place the orange in the bowl 5- Put the orange in the right bowl 6- Put the apple in the left bowl 7- place the apple in the bowl 8- place the apple in the bowl Q: immediate next step? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e","video":"304479896846667044.mp4"}
+{"uid":"13149758574754990522","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruits back in the bowl. last 20 steps: 1- put apple in the bowl 2- put pear in the bowl 3- put pear in the bowl 4- put apple in the bowl 5- put apple in the bowl 6- put pear in the bowl 7- put pear in the bowl 8- put pear in the bowl Q: immediate next step? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruits back in the bowl. last 20 steps: 1- put apple in the bowl 2- put pear in the bowl 3- put pear in the bowl 4- put apple in the bowl 5- put apple in the bowl 6- put pear in the bowl 7- put pear in the bowl 8- put pear in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put apple in the bowl 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the fruits back in the bowl Q: immediate next step? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e","video":"13468244530861491657.mp4"}
+{"uid":"14112757929140978836","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5254413874509161352.mp4"}
+{"uid":"4368214295788685447","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachios in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6689330690599788293.mp4"}
+{"uid":"10380749487986869515","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":"7045802760581482452.mp4"}
+{"uid":"10528359209723083297","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nArrange the pillow Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9742380309995726299.mp4"}
+{"uid":"8789021377438953398","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange in the right 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 right bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: refill fruit bowls in MK. last 20 steps: 1- place the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the orange in the right bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: refill fruit bowls in MK Q: immediate next step? \u003cPRED\u003eA: Put the orange in the right bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: refill fruit bowls in MK. last 20 steps: 1- place the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange in the right bowl 2- Put the orange in the right bowl 3- place the orange in the bowl 4- Put the orange in the right bowl 5- Put the apple in the left bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange in the right bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1213339501459833595.mp4"}
+{"uid":"11247134052925157657","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":"434350294247557680.mp4"}
+{"uid":"12748310668887207459","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the apple into the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: refill fruit bowls in MK Q: immediate next step? \u003cPRED\u003eA: put the apple into the white bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: refill fruit bowls in MK. last 20 steps: 1- place the orange in the bowl 2- place the orange in the bowl 3- Put the orange in the right bowl 4- place the orange in the bowl 5- Put the orange in the right bowl 6- Put the apple in the left bowl 7- place the apple in the bowl Q: immediate next step? \u003cPRED\u003eA: put the apple into the white bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: refill fruit bowls in MK. last 20 steps: 1- place the orange in the bowl 2- place the orange in the bowl 3- Put the orange in the right bowl 4- place the orange in the bowl 5- Put the orange in the right bowl 6- Put the apple in the left bowl 7- place the apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the apple into the white bowl 2- place the apple in the bowl 3- Put the apple in the left bowl 4- Place the tray at back on the table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the apple into the white bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the apple into the white bowl\n\u003c/PRED\u003e","video":"5104971695777843018.mp4"}
+{"uid":"18062942669350345489","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the fruit 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":"18188390498554341873.mp4"}
+{"uid":"3142138835366608716","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the yellow candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\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":"16297442706709419553.mp4"}
+{"uid":"3088483786721403979","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17041419606833767232.mp4"}
+{"uid":"14638213039991781222","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: refill fruit bowls in MK Q: immediate next step? \u003cPRED\u003eA: place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: refill fruit bowls in MK. last 20 steps: 1- place the orange in the bowl 2- place the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the orange in the bowl 2- place the orange in the bowl 3- Put the orange in the right bowl 4- Put the apple in the left bowl 5- place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: refill fruit bowls in MK. last 20 steps: 1- place the orange in the bowl 2- place the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the orange in the bowl\n\u003c/PRED\u003e","video":"17851039139109667987.mp4"}
+{"uid":"1323528399292835267","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the plastic spoon and plastic fork in the plastic glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17662477630154706514.mp4"}
+{"uid":"6191753292402719934","text":"\u003ctask:success:discrete:True\u003e\nWrite on the board with the green marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Write on the board with the green marker\n\u003c/PRED\u003e","video":"15679203051403260250.mp4"}
+{"uid":"437623557312503470","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":"194957609874364847.mp4"}
+{"uid":"15903657962435691412","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange in the right bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: refill fruit bowls in MK. last 20 steps: 1- place the orange in the bowl 2- place the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange in the right bowl 2- place the orange in the bowl 3- Put the orange in the right bowl 4- Put the apple in the left bowl 5- place 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 orange in the right bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: refill fruit bowls in MK Q: immediate next step? \u003cPRED\u003eA: Put the orange in the right bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: refill fruit bowls in MK. last 20 steps: 1- place the orange in the bowl 2- place the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the orange in the right bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange in the right bowl\n\u003c/PRED\u003e","video":"17352744051522616863.mp4"}
+{"uid":"2236657094169231414","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: refill fruit bowls in MK. last 20 steps: 1- place the orange in the bowl 2- place the orange in the bowl 3- Put the orange in the right bowl 4- place the orange in the bowl 5- Put the orange in the right bowl 6- Put the apple in the left bowl 7- place the apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the apple in the bowl 2- place the apple in the bowl 3- Put the apple in the left bowl 4- Place the tray at back on the table 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: refill fruit bowls in MK. last 20 steps: 1- place the orange in the bowl 2- place the orange in the bowl 3- Put the orange in the right bowl 4- place the orange in the bowl 5- Put the orange in the right bowl 6- Put the apple in the left bowl 7- place the apple in the bowl Q: immediate next step? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: refill fruit bowls in MK Q: immediate next step? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e","video":"149304143870019371.mp4"}
+{"uid":"7197563206034417307","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the cloth\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the cloth Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the cloth Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Wipe off the drawing on the whiteboard. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick up the cloth\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the cloth\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Wipe off the drawing on the whiteboard. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the cloth 2- Wipe the board 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Wipe off the drawing on the whiteboard Q: immediate next step? \u003cPRED\u003eA: pick up the cloth\n\u003c/PRED\u003e","video":"7186450721617928227.mp4"}
+{"uid":"12941857211727718630","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the headset on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1058189843718975260.mp4"}
+{"uid":"16783500381348338029","text":"\u003ctask:success:discrete:True\u003e\nPut the pillow vertically straight Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 and organize the couch pillows . last 20 steps: 1- Put the pillow vertically straight 2- Put the pillow vertically straight 3- Put the pillow vertically straight Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please pick up and organize the couch pillows Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the pillow vertically straight\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please pick up and organize the couch pillows . last 20 steps: 1- Put the pillow vertically straight 2- Put the pillow vertically straight 3- Put the pillow vertically straight Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"3775389508403588474.mp4"}
+{"uid":"3364055372791345536","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please write on the whiteboard and then erase it Q: immediate next step? \u003cPRED\u003eA: clean the board with the duster\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclean the board with the duster Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: clean the board with the duster\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please write on the whiteboard and then erase it. last 20 steps: 1- Write on the board with the green marker Q: immediate next step? \u003cPRED\u003eA: clean the board with the duster\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclean the board with the duster Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please write on the whiteboard and then erase it. last 20 steps: 1- Write on the board with the green marker Q: next 5 steps? \u003cPRED\u003eA: 1- clean the board with the duster 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: clean the board with the duster\n\u003c/PRED\u003e","video":"8167654559142131775.mp4"}
+{"uid":"17567846581191752231","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":"13288267329485645027.mp4"}
+{"uid":"6802333910296013277","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: refill fruit bowls in MK. last 20 steps: 1- place the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: put the orange into the white bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: refill fruit bowls in MK Q: immediate next step? \u003cPRED\u003eA: put the orange into the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange into the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange into the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange into the white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange into the white bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: refill fruit bowls in MK. last 20 steps: 1- place the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange into the white bowl 2- Put the orange in the right bowl 3- place the orange in the bowl 4- Put the orange in the right bowl 5- Put the apple in the left bowl\n\u003c/PRED\u003e","video":"5783532181369197504.mp4"}
+{"uid":"13675815712796404962","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the pen Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10118285933467665918.mp4"}
+{"uid":"6815753223077935163","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Wipe off the drawing on the whiteboard. last 20 steps: 1- pick up the cloth 2- Wipe the board Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nWipe the board Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Wipe off the drawing on the whiteboard. last 20 steps: 1- pick up the cloth 2- Wipe the board Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Wipe off the drawing on the whiteboard Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Wipe the board\n\u003c/PRED\u003e","video":"13936815720696494011.mp4"}
+{"uid":"9431440015177065245","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6735158054102831955.mp4"}
+{"uid":"1427440533745886797","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":"16667109571301279890.mp4"}
+{"uid":"10637214424520569617","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pen in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14393160593971192035.mp4"}
+{"uid":"11048099682381240867","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: refill fruit bowls in MK Q: immediate next step? \u003cPRED\u003eA: Place the tray at back on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the tray at back on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: refill fruit bowls in MK. last 20 steps: 1- place the orange in the bowl 2- place the orange in the bowl 3- Put the orange in the right bowl 4- place the orange in the bowl 5- Put the orange in the right bowl 6- Put the apple in the left bowl 7- place the apple in the bowl 8- place the apple in the bowl 9- place the apple in the bowl 10- Put the apple in the left bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the tray at back on the table 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the tray at back on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the tray at back on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the tray at back on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: refill fruit bowls in MK. last 20 steps: 1- place the orange in the bowl 2- place the orange in the bowl 3- Put the orange in the right bowl 4- place the orange in the bowl 5- Put the orange in the right bowl 6- Put the apple in the left bowl 7- place the apple in the bowl 8- place the apple in the bowl 9- place the apple in the bowl 10- Put the apple in the left bowl Q: immediate next step? \u003cPRED\u003eA: Place the tray at back on the table\n\u003c/PRED\u003e","video":"679460430375584144.mp4"}
+{"uid":"982806434830631485","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruits back in the bowl. last 20 steps: 1- put apple in the bowl 2- put pear in the bowl 3- put pear in the bowl 4- put apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put apple in the bowl 2- put pear in the bowl 3- put pear in the bowl 4- put pear in the bowl 5- put apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the fruits back in the bowl Q: immediate next step? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruits back in the bowl. last 20 steps: 1- put apple in the bowl 2- put pear in the bowl 3- put pear in the bowl 4- put apple in the bowl Q: immediate next step? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3333759654511028647.mp4"}
+{"uid":"4487894297103024997","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"12057288108872685130.mp4"}
+{"uid":"12140614987567522453","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput yellow packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18087780314338869129.mp4"}
+{"uid":"1864484994964073976","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the glass 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":"13809419662092331589.mp4"}
+{"uid":"10338438793328881806","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the orange packet on the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16526026702732091444.mp4"}
+{"uid":"305806277402844780","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":"10075402616286761319.mp4"}
+{"uid":"10293668067240586121","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nKeep the brown 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":"10554401019319818814.mp4"}
+{"uid":"6999009750461396561","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":"5948886610837238159.mp4"}
+{"uid":"7019596230191491924","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the animal toy in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15818326410525806601.mp4"}
+{"uid":"7415248368109216745","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the silver object in the tray of 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":"8748635114185713922.mp4"}
+{"uid":"12588532704787947679","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: refill fruit bowls in MK. last 20 steps: 1- place the orange in the bowl 2- place the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: put the orange into the white bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange into the white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: refill fruit bowls in MK Q: immediate next step? \u003cPRED\u003eA: put the orange into the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange into the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange into the white bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange into the white bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: refill fruit bowls in MK. last 20 steps: 1- place the orange in the bowl 2- place the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange into the white bowl 2- place the orange in the bowl 3- Put the orange in the right bowl 4- Put the apple in the left bowl 5- place the apple in the bowl\n\u003c/PRED\u003e","video":"12746193169033860684.mp4"}
+{"uid":"15282287037332528105","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput pear in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the fruits back in the bowl Q: immediate next step? \u003cPRED\u003eA: put pear in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pear in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruits back in the bowl. last 20 steps: 1- put apple in the bowl 2- put pear in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put pear in the bowl 2- put apple in the bowl 3- put apple in the bowl 4- put pear in the bowl 5- put pear in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pear in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruits back in the bowl. last 20 steps: 1- put apple in the bowl 2- put pear in the bowl Q: immediate next step? \u003cPRED\u003eA: put pear in the bowl\n\u003c/PRED\u003e","video":"5795348487686929111.mp4"}
+{"uid":"4640916089092940556","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: refill fruit bowls in MK. last 20 steps: 1- place the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: refill fruit bowls in MK. last 20 steps: 1- place the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the orange in the bowl 2- Put the orange in the right bowl 3- place the orange in the bowl 4- Put the orange in the right bowl 5- Put the apple in the left bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: refill fruit bowls in MK Q: immediate next step? \u003cPRED\u003eA: place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11059121171872440685.mp4"}
+{"uid":"2735662959631343568","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange in the right bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: refill fruit bowls in MK Q: immediate next step? \u003cPRED\u003eA: Put the orange in the right bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: refill fruit bowls in MK. last 20 steps: 1- place the orange in the bowl 2- place the orange in the bowl 3- Put the orange in the right bowl Q: immediate next step? \u003cPRED\u003eA: Put the orange in the right bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange in the right bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: refill fruit bowls in MK. last 20 steps: 1- place the orange in the bowl 2- place the orange in the bowl 3- Put the orange in the right bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange in the right bowl 2- Put the orange in the right bowl 3- Put the apple in the left bowl 4- place the apple in the bowl 5- place 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 orange in the right bowl\n\u003c/PRED\u003e","video":"7616760643524327092.mp4"}
+{"uid":"7282898667784331833","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":"9153208359823649596.mp4"}
+{"uid":"15308592268765040978","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruits back in the bowl. last 20 steps: 1- put apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put pear in the bowl 2- put pear in the bowl 3- put apple in the bowl 4- put apple in the bowl 5- put pear in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the fruits back in the bowl Q: immediate next step? \u003cPRED\u003eA: put pear in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pear in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruits back in the bowl. last 20 steps: 1- put apple in the bowl Q: immediate next step? \u003cPRED\u003eA: put pear in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pear in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput 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 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":"3648084258439606883.mp4"}
+{"uid":"10432308182272138163","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the apple in the left bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 left bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: refill fruit bowls in MK Q: immediate next step? \u003cPRED\u003eA: Put the apple in the left bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: refill fruit bowls in MK. last 20 steps: 1- place the orange in the bowl 2- place the orange in the bowl 3- Put the orange in the right bowl 4- place the orange in the bowl 5- Put the orange in the right bowl 6- Put the apple in the left bowl 7- place the apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the apple in the left bowl 2- place the apple in the bowl 3- Put the apple in the left bowl 4- Place the tray at back on the table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the apple in the left bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: refill fruit bowls in MK. last 20 steps: 1- place the orange in the bowl 2- place the orange in the bowl 3- Put the orange in the right bowl 4- place the orange in the bowl 5- Put the orange in the right bowl 6- Put the apple in the left bowl 7- place the apple in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the apple in the left bowl\n\u003c/PRED\u003e","video":"16546598978343816918.mp4"}
+{"uid":"16477392527168659495","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the apple into the white bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: refill fruit bowls in MK. last 20 steps: 1- place the orange in the bowl 2- place the orange in the bowl 3- Put the orange in the right bowl 4- place the orange in the bowl 5- Put the orange in the right bowl 6- Put the apple in the left bowl 7- place the apple in the bowl 8- place the apple in the bowl 9- place the apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the apple into the white bowl 2- Place the tray at back on the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the apple into the white bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: refill fruit bowls in MK. last 20 steps: 1- place the orange in the bowl 2- place the orange in the bowl 3- Put the orange in the right bowl 4- place the orange in the bowl 5- Put the orange in the right bowl 6- Put the apple in the left bowl 7- place the apple in the bowl 8- place the apple in the bowl 9- place the apple in the bowl Q: immediate next step? \u003cPRED\u003eA: put the apple into the white bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: refill fruit bowls in MK Q: immediate next step? \u003cPRED\u003eA: put the apple into the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the apple into the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9383295826752506494.mp4"}
+{"uid":"2738266278823384765","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: refill fruit bowls in MK Q: immediate next step? \u003cPRED\u003eA: place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: refill fruit bowls in MK. last 20 steps: 1- place the orange in the bowl 2- place the orange in the bowl 3- Put the orange in the right bowl Q: immediate next step? \u003cPRED\u003eA: place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: refill fruit bowls in MK. last 20 steps: 1- place the orange in the bowl 2- place the orange in the bowl 3- Put the orange in the right bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the orange in the bowl 2- Put the orange in the right bowl 3- Put the apple in the left bowl 4- place the apple in the bowl 5- place the apple in the bowl\n\u003c/PRED\u003e","video":"2360661250788986287.mp4"}
+{"uid":"15450415698499432696","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange into the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange into the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: refill fruit bowls in MK. last 20 steps: 1- place the orange in the bowl 2- place the orange in the bowl 3- Put the orange in the right bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange into the white bowl 2- Put the orange in the right bowl 3- Put the apple in the left bowl 4- place the apple in the bowl 5- place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: refill fruit bowls in MK. last 20 steps: 1- place the orange in the bowl 2- place the orange in the bowl 3- Put the orange in the right bowl Q: immediate next step? \u003cPRED\u003eA: put the orange into the white bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: refill fruit bowls in MK Q: immediate next step? \u003cPRED\u003eA: put the orange into the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange into the white bowl\n\u003c/PRED\u003e","video":"14136273968855451629.mp4"}
+{"uid":"4800730909540794774","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6671155242378207993.mp4"}
+{"uid":"6141752240174812927","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange in the right bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: refill fruit bowls in MK Q: immediate next step? \u003cPRED\u003eA: place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: refill fruit bowls in MK. last 20 steps: 1- place the orange in the bowl 2- place the orange in the bowl 3- Put the orange in the right bowl 4- place the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the orange in the right bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: refill fruit bowls in MK. last 20 steps: 1- place the orange in the bowl 2- place the orange in the bowl 3- Put the orange in the right bowl 4- place the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange in the right bowl 2- Put the apple in the left bowl 3- place the apple in the bowl 4- place the apple in the bowl 5- place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: refill fruit bowls in MK. last 20 steps: 1- place the orange in the bowl 2- place the orange in the bowl 3- Put the orange in the right bowl 4- place the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the orange in the bowl 2- Put the apple in the left bowl 3- place the apple in the bowl 4- place the apple in the bowl 5- place 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 orange in the right bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange in the right bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: refill fruit bowls in MK. last 20 steps: 1- place the orange in the bowl 2- place the orange in the bowl 3- Put the orange in the right bowl 4- place the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: refill fruit bowls in MK Q: immediate next step? \u003cPRED\u003eA: Put the orange in the right bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the orange in the bowl\n\u003c/PRED\u003e","video":"84550955576894118.mp4"}
+{"uid":"6309669430737863007","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please pick up and organize the couch pillows Q: immediate next step? \u003cPRED\u003eA: Put the pillow vertically straight\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pillow vertically straight Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\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 pillow vertically straight\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pillow vertically straight\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please pick up and organize the couch pillows . last 20 steps: 1- Put the pillow vertically straight Q: immediate next step? \u003cPRED\u003eA: Put the pillow vertically straight\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please pick up and organize the couch pillows . last 20 steps: 1- Put the pillow vertically straight Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pillow vertically straight 2- Put the pillow vertically straight 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the pillow vertically straight Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7007437694694310894.mp4"}
+{"uid":"16660246274081858760","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the coconut bottle from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16187871744752347466.mp4"}
+{"uid":"14761838916836034441","text":"\u003ctask:success:discrete:False\u003e\nput the apple into the white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the apple into the white bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the apple into the white bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: refill fruit bowls in MK Q: immediate next step? \u003cPRED\u003eA: put the apple into the white bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: refill fruit bowls in MK. last 20 steps: 1- place the orange in the bowl 2- place the orange in the bowl 3- Put the orange in the right bowl 4- place the orange in the bowl 5- Put the orange in the right bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the apple into the white bowl 2- place the apple in the bowl 3- place the apple in the bowl 4- place the apple in the bowl 5- Put the apple in the left bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the apple into the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: refill fruit bowls in MK. last 20 steps: 1- place the orange in the bowl 2- place the orange in the bowl 3- Put the orange in the right bowl 4- place the orange in the bowl 5- Put the orange in the right bowl Q: immediate next step? \u003cPRED\u003eA: put the apple into the white bowl\n\u003c/PRED\u003e","video":"14191344173474856782.mp4"}
+{"uid":"9194920508662719603","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruits back in the bowl. last 20 steps: 1- put apple in the bowl 2- put pear in the bowl 3- put pear in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put apple in the bowl 2- put apple in the bowl 3- put pear in the bowl 4- put pear in the bowl 5- put pear in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the fruits back in the bowl Q: immediate next step? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruits back in the bowl. last 20 steps: 1- put apple in the bowl 2- put pear in the bowl 3- put pear in the bowl Q: immediate next step? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e","video":"2951390763363760526.mp4"}
+{"uid":"9254280633223749460","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"17025899531185181756.mp4"}
+{"uid":"8558681264461518011","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please write on the whiteboard and then erase it Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please write on the whiteboard and then erase it. last 20 steps: 1- Write on the board with the green marker 2- clean the board with the duster Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: clean the board with the duster\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nclean the board with the duster Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please write on the whiteboard and then erase it. last 20 steps: 1- Write on the board with the green marker 2- clean the board with the duster Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"15636370127392506355.mp4"}
+{"uid":"9856960799257742971","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange into the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: refill fruit bowls in MK. last 20 steps: 1- place the orange in the bowl 2- place the orange in the bowl 3- Put the orange in the right bowl 4- place the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange into the white bowl 2- Put the apple in the left bowl 3- place the apple in the bowl 4- place the apple in the bowl 5- place 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 orange into the white bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: refill fruit bowls in MK Q: immediate next step? \u003cPRED\u003eA: put the orange into the white bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: refill fruit bowls in MK. last 20 steps: 1- place the orange in the bowl 2- place the orange in the bowl 3- Put the orange in the right bowl 4- place the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: put the orange into the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange into the white bowl\n\u003c/PRED\u003e","video":"3202158813878417738.mp4"}
+{"uid":"1433394774157986823","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: refill fruit bowls in MK. last 20 steps: 1- place the orange in the bowl 2- place the orange in the bowl 3- Put the orange in the right bowl 4- place the orange in the bowl 5- Put the orange in the right bowl 6- Put the apple in the left bowl 7- place the apple in the bowl 8- place the apple in the bowl 9- place the apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the apple in the bowl 2- Place the tray at back on the table 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: refill fruit bowls in MK. last 20 steps: 1- place the orange in the bowl 2- place the orange in the bowl 3- Put the orange in the right bowl 4- place the orange in the bowl 5- Put the orange in the right bowl 6- Put the apple in the left bowl 7- place the apple in the bowl 8- place the apple in the bowl 9- place the apple in the bowl Q: immediate next step? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: refill fruit bowls in MK Q: immediate next step? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1709860137629228740.mp4"}
+{"uid":"17060021871827973298","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the green object from the top left drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4063540303681113744.mp4"}
+{"uid":"290936101392591687","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a 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":"10334763585479961297.mp4"}
+{"uid":"13603563473504244494","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sugar pouch 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":"2376495696599354304.mp4"}
+{"uid":"2342792013147603723","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nWrite on the board with the green marker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please write on the whiteboard and then erase it Q: immediate next step? \u003cPRED\u003eA: Write on the board with the green marker\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Write on the board with the green marker\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nWrite on the board with the green marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Write on the board with the green marker\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please write on the whiteboard and then erase it. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Write on the board with the green marker 2- clean the board with the duster 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please write on the whiteboard and then erase it. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Write on the board with the green marker\n\u003c/PRED\u003e","video":"11254809443783242076.mp4"}
+{"uid":"6800362150713182799","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4207774971168324759.mp4"}
+{"uid":"8617311859184145347","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: refill fruit bowls in MK. last 20 steps: 1- place the orange in the bowl 2- place the orange in the bowl 3- Put the orange in the right bowl 4- place the orange in the bowl 5- Put the orange in the right bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the apple in the bowl 2- place the apple in the bowl 3- place the apple in the bowl 4- place the apple in the bowl 5- Put the apple in the left bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: refill fruit bowls in MK. last 20 steps: 1- place the orange in the bowl 2- place the orange in the bowl 3- Put the orange in the right bowl 4- place the orange in the bowl 5- Put the orange in the right bowl Q: immediate next step? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: refill fruit bowls in MK Q: immediate next step? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11158322461215919925.mp4"}
+{"uid":"14030804573319543737","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the apple in the left bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: refill fruit bowls in MK. last 20 steps: 1- place the orange in the bowl 2- place the orange in the bowl 3- Put the orange in the right bowl 4- place the orange in the bowl 5- Put the orange in the right bowl 6- Put the apple in the left bowl 7- place the apple in the bowl 8- place the apple in the bowl 9- place the apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the apple in the left bowl 2- Place the tray at back on the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the apple in the left bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: refill fruit bowls in MK. last 20 steps: 1- place the orange in the bowl 2- place the orange in the bowl 3- Put the orange in the right bowl 4- place the orange in the bowl 5- Put the orange in the right bowl 6- Put the apple in the left bowl 7- place the apple in the bowl 8- place the apple in the bowl 9- place the apple in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the apple in the left bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the apple in the left bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: refill fruit bowls in MK Q: immediate next step? \u003cPRED\u003eA: Put the apple in the left bowl\n\u003c/PRED\u003e","video":"2588757577776199420.mp4"}
+{"uid":"8924928950794741388","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the instant oatmeal pack in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5460385333368584040.mp4"}
+{"uid":"3674484069314365082","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":"15976315920477973670.mp4"}
+{"uid":"16741803879360990416","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose the door of refrigerator Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2339096322194417947.mp4"}
+{"uid":"12160227730021988919","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the apple in the left bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the apple in the left bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\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 left bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: refill fruit bowls in MK Q: immediate next step? \u003cPRED\u003eA: Put the apple in the left bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: refill fruit bowls in MK. last 20 steps: 1- place the orange in the bowl 2- place the orange in the bowl 3- Put the orange in the right bowl 4- place the orange in the bowl 5- Put the orange in the right bowl 6- Put the apple in the left bowl 7- place the apple in the bowl 8- place the apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the apple in the left bowl 2- Put the apple in the left bowl 3- Place the tray at back on the table 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: refill fruit bowls in MK. last 20 steps: 1- place the orange in the bowl 2- place the orange in the bowl 3- Put the orange in the right bowl 4- place the orange in the bowl 5- Put the orange in the right bowl 6- Put the apple in the left bowl 7- place the apple in the bowl 8- place the apple in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the apple in the left bowl\n\u003c/PRED\u003e","video":"4399968556241617714.mp4"}
+{"uid":"2857363426604030188","text":"\u003ctask:success:discrete:True\u003e\nPut the pillow vertically straight Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 pillow vertically straight\n\u003c/PRED\u003e","video":"4224554320028833034.mp4"}
+{"uid":"12149162976743131059","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the apple into the white bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: refill fruit bowls in MK Q: immediate next step? \u003cPRED\u003eA: put the apple into the white bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: refill fruit bowls in MK. last 20 steps: 1- place the orange in the bowl 2- place the orange in the bowl 3- Put the orange in the right bowl 4- place the orange in the bowl 5- Put the orange in the right bowl 6- Put the apple in the left bowl Q: immediate next step? \u003cPRED\u003eA: put the apple into the white bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: refill fruit bowls in MK. last 20 steps: 1- place the orange in the bowl 2- place the orange in the bowl 3- Put the orange in the right bowl 4- place the orange in the bowl 5- Put the orange in the right bowl 6- Put the apple in the left bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the apple into the white bowl 2- place the apple in the bowl 3- place the apple in the bowl 4- Put the apple in the left bowl 5- Place the tray at back on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the apple into the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the apple into the white bowl\n\u003c/PRED\u003e","video":"15068182179645700772.mp4"}
+{"uid":"16986823620464289861","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the pillow vertically straight\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the pillow vertically straight Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3411327474871831922.mp4"}
+{"uid":"18169818138861384809","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen top drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11949385153497878708.mp4"}
+{"uid":"7056996881160461202","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: refill fruit bowls in MK Q: immediate next step? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: refill fruit bowls in MK. last 20 steps: 1- place the orange in the bowl 2- place the orange in the bowl 3- Put the orange in the right bowl 4- place the orange in the bowl 5- Put the orange in the right bowl 6- Put the apple in the left bowl Q: immediate next step? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: refill fruit bowls in MK. last 20 steps: 1- place the orange in the bowl 2- place the orange in the bowl 3- Put the orange in the right bowl 4- place the orange in the bowl 5- Put the orange in the right bowl 6- Put the apple in the left bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the apple in the bowl 2- place the apple in the bowl 3- place the apple in the bowl 4- Put the apple in the left bowl 5- Place the tray at back on the table\n\u003c/PRED\u003e","video":"1082997563307962433.mp4"}
+{"uid":"2873524807032441251","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruits back in the bowl. last 20 steps: 1- put apple in the bowl 2- put pear in the bowl 3- put pear in the bowl 4- put apple in the bowl 5- put apple in the bowl 6- put pear in the bowl 7- put pear in the bowl Q: immediate next step? \u003cPRED\u003eA: put pear in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the fruits back in the bowl Q: immediate next step? \u003cPRED\u003eA: put pear in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruits back in the bowl. last 20 steps: 1- put apple in the bowl 2- put pear in the bowl 3- put pear in the bowl 4- put apple in the bowl 5- put apple in the bowl 6- put pear in the bowl 7- put pear in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put pear in the bowl 2- put apple in the bowl 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pear in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pear in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pear in the bowl\n\u003c/PRED\u003e","video":"18141523477712921732.mp4"}
+{"uid":"5554435846111850459","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":"15129146034368056235.mp4"}
+{"uid":"5109376786279881559","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pillow vertically straight\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please pick up and organize the couch pillows . last 20 steps: 1- Put the pillow vertically straight 2- Put the pillow vertically straight Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pillow vertically straight 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please pick up and organize the couch pillows . last 20 steps: 1- Put the pillow vertically straight 2- Put the pillow vertically straight Q: immediate next step? \u003cPRED\u003eA: Put the pillow vertically straight\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pillow vertically straight Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 and organize the couch pillows Q: immediate next step? \u003cPRED\u003eA: Put the pillow vertically straight\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pillow vertically straight\n\u003c/PRED\u003e","video":"5671609804112942258.mp4"}
+{"uid":"8033914992988210881","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the brown box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6644631498596165021.mp4"}
+{"uid":"4867520012397637990","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please empty out the bowl of apples?. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please empty out the bowl of apples?. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the apple on the table 2- Put the apple on table 3- Put the apple on table 4- Put the apple on table 5- Put the apple on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please empty out the bowl of apples? Q: immediate next step? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e","video":"2906931389651652095.mp4"}
+{"uid":"402862878211704031","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please empty out the bowl of apples?. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the apple on the table 2- place the apple on the table 3- place the apple on the table 4- Put the apple on table 5- Put the apple on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please empty out the bowl of apples? Q: immediate next step? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please empty out the bowl of apples?. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e","video":"17776111365179749420.mp4"}
+{"uid":"8794519316370383542","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachio in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17346901831085624851.mp4"}
+{"uid":"17897164373944318051","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please empty out the bowl of apples?. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the apple on table 2- place the apple on the table 3- Put the apple on table 4- Put the apple on table 5- Put the apple on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please empty out the bowl of apples? Q: immediate next step? \u003cPRED\u003eA: Put the apple on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the apple 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 apple on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please empty out the bowl of apples?. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the apple on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the apple on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the apple on table\n\u003c/PRED\u003e","video":"13742030631770722531.mp4"}
+{"uid":"16147933984093500568","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the oatmeal pack in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12696372494203750686.mp4"}
+{"uid":"8700897315497960363","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the organizer drawers Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9972889512317652025.mp4"}
+{"uid":"3309147303357805227","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please empty out the bowl of apples?. last 20 steps: 1- Put the apple on table 2- place the apple on the table 3- place the apple on the table 4- Put the apple on table 5- Put the apple on table 6- Put the apple on table 7- Put the apple on table 8- Put the apple on table Q: immediate next step? \u003cPRED\u003eA: Put the apple on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please empty out the bowl of apples? Q: immediate next step? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please empty out the bowl of apples?. last 20 steps: 1- Put the apple on table 2- place the apple on the table 3- place the apple on the table 4- Put the apple on table 5- Put the apple on table 6- Put the apple on table 7- Put the apple on table 8- Put the apple on table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the apple on table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the apple on table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the apple 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please empty out the bowl of apples?. last 20 steps: 1- Put the apple on table 2- place the apple on the table 3- place the apple on the table 4- Put the apple on table 5- Put the apple on table 6- Put the apple on table 7- Put the apple on table 8- Put the apple on table Q: immediate next step? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please empty out the bowl of apples? Q: immediate next step? \u003cPRED\u003eA: Put the apple on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please empty out the bowl of apples?. last 20 steps: 1- Put the apple on table 2- place the apple on the table 3- place the apple on the table 4- Put the apple on table 5- Put the apple on table 6- Put the apple on table 7- Put the apple on table 8- Put the apple on table Q: next 5 steps? \u003cPRED\u003eA: 1- place the apple on the table 2- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the apple on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the apple on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the apple on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e","video":"14464323919832446166.mp4"}
+{"uid":"6651234580839410912","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the apple on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the apple on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please empty out the bowl of apples? Q: immediate next step? \u003cPRED\u003eA: put the apple on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please empty out the bowl of apples?. last 20 steps: 1- Put the apple on table 2- place the apple on the table 3- place the apple on the table 4- Put the apple on table Q: immediate next step? \u003cPRED\u003eA: put the apple on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please empty out the bowl of apples?. last 20 steps: 1- Put the apple on table 2- place the apple on the table 3- place the apple on the table 4- Put the apple on table Q: next 5 steps? \u003cPRED\u003eA: 1- put the apple on the table 2- Put the apple on table 3- Put the apple on table 4- Put the apple on table 5- place the apple on the table\n\u003c/PRED\u003e","video":"13447715891514543408.mp4"}
+{"uid":"2022611069034132615","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the apple 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 apple on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please empty out the bowl of apples? Q: immediate next step? \u003cPRED\u003eA: Put the apple on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please empty out the bowl of apples?. last 20 steps: 1- Put the apple on table 2- place the apple on the table Q: immediate next step? \u003cPRED\u003eA: Put the apple on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the apple on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please empty out the bowl of apples?. last 20 steps: 1- Put the apple on table 2- place the apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the apple on table 2- Put the apple on table 3- Put the apple on table 4- Put the apple on table 5- Put the apple on table\n\u003c/PRED\u003e","video":"2169566247369758092.mp4"}
+{"uid":"17540961257275062897","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the apple on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please empty out the bowl of apples?. last 20 steps: 1- Put the apple on table Q: immediate next step? \u003cPRED\u003eA: put the apple on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please empty out the bowl of apples? Q: immediate next step? \u003cPRED\u003eA: put the apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the apple on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please empty out the bowl of apples?. last 20 steps: 1- Put the apple on table Q: next 5 steps? \u003cPRED\u003eA: 1- put the apple on the table 2- place the apple on the table 3- Put the apple on table 4- Put the apple on table 5- Put the apple on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7284463307881889669.mp4"}
+{"uid":"7723759992518554860","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the left side 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":"6552576168797677170.mp4"}
+{"uid":"18311618891119400419","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut black wire in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7408509888471102065.mp4"}
+{"uid":"2441833661558827101","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please empty out the bowl of apples?. last 20 steps: 1- Put the apple on table 2- place the apple on the table 3- place the apple on the table 4- Put the apple on table 5- Put the apple on table 6- Put the apple on table 7- Put the apple on table 8- Put the apple on table 9- place the apple 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 apple on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please empty out the bowl of apples?. last 20 steps: 1- Put the apple on table 2- place the apple on the table 3- place the apple on the table 4- Put the apple on table 5- Put the apple on table 6- Put the apple on table 7- Put the apple on table 8- Put the apple on table 9- place the apple on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please empty out the bowl of apples? Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1377662341300530223.mp4"}
+{"uid":"12093624993635459007","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6053795873425739099.mp4"}
+{"uid":"11608097530060442797","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please empty out the bowl of apples? Q: immediate next step? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please empty out the bowl of apples?. last 20 steps: 1- Put the apple on table 2- place the apple on the table 3- place the apple on the table 4- Put the apple on table Q: next 5 steps? \u003cPRED\u003eA: 1- place the apple on the table 2- Put the apple on table 3- Put the apple on table 4- place the apple on the table 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please empty out the bowl of apples?. last 20 steps: 1- Put the apple on table 2- place the apple on the table 3- place the apple on the table 4- Put the apple on table Q: immediate next step? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e","video":"10515704270213997199.mp4"}
+{"uid":"17895091570009194029","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please empty out the bowl of apples?. last 20 steps: 1- Put the apple on table 2- place the apple on the table 3- place the apple on the table 4- Put the apple on table 5- Put the apple on table 6- Put the apple on table Q: next 5 steps? \u003cPRED\u003eA: 1- place the apple on the table 2- place the apple on the table 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please empty out the bowl of apples? Q: immediate next step? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please empty out the bowl of apples?. last 20 steps: 1- Put the apple on table 2- place the apple on the table 3- place the apple on the table 4- Put the apple on table 5- Put the apple on table 6- Put the apple on table Q: immediate next step? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e","video":"9743857203501063405.mp4"}
+{"uid":"11737666278024572360","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the  packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10655448744456643685.mp4"}
+{"uid":"15983912814103170884","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":"1174896374946841913.mp4"}
+{"uid":"3211454216812347103","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pistachio into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14888649143986209072.mp4"}
+{"uid":"12214805856646708611","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9324154056153065578.mp4"}
+{"uid":"3117732085845482703","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please empty out the bowl of apples? Q: immediate next step? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please empty out the bowl of apples?. last 20 steps: 1- Put the apple on table 2- place the apple on the table 3- place the apple on the table 4- Put the apple on table 5- Put the apple on table Q: next 5 steps? \u003cPRED\u003eA: 1- place the apple on the table 2- Put the apple on table 3- place the apple on the table 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please empty out the bowl of apples?. last 20 steps: 1- Put the apple on table 2- place the apple on the table 3- place the apple on the table 4- Put the apple on table 5- Put the apple on table Q: immediate next step? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15394635711862721959.mp4"}
+{"uid":"3680143186199043831","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":"13093912094238144366.mp4"}
+{"uid":"986842147809041103","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the candy in brown bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13719554427836760087.mp4"}
+{"uid":"3046770393410235243","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput chair inside the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6870414493852820984.mp4"}
+{"uid":"10095324306357760140","text":"\u003ctask:success:discrete:True\u003e\nPut the apple 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please empty out the bowl of apples?. last 20 steps: 1- Put the apple on table 2- place the apple on the table 3- place the apple on the table 4- Put the apple on table 5- Put the apple on table 6- Put the apple on table 7- Put the apple on table 8- Put the apple on table 9- Put the apple on table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please empty out the bowl of apples? Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the apple on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please empty out the bowl of apples?. last 20 steps: 1- Put the apple on table 2- place the apple on the table 3- place the apple on the table 4- Put the apple on table 5- Put the apple on table 6- Put the apple on table 7- Put the apple on table 8- Put the apple on table 9- Put the apple on table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"9221232950577933167.mp4"}
+{"uid":"14009115108279713014","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the apple on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please empty out the bowl of apples?. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please empty out the bowl of apples? Q: immediate next step? \u003cPRED\u003eA: put the apple on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the apple on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please empty out the bowl of apples?. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the apple on the table 2- place the apple on the table 3- place the apple on the table 4- Put the apple on table 5- Put the apple on table\n\u003c/PRED\u003e","video":"17441250110937407674.mp4"}
+{"uid":"18116141509707673655","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput red packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11649981695417756277.mp4"}
+{"uid":"8899885448202219068","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nArrange the chocolates in the candy tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9408189832329739789.mp4"}
+{"uid":"3327134061034582032","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the apple on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please empty out the bowl of apples? Q: immediate next step? \u003cPRED\u003eA: put the apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please empty out the bowl of apples?. last 20 steps: 1- Put the apple on table 2- place the apple on the table 3- place the apple on the table 4- Put the apple on table 5- Put the apple on table 6- Put the apple on table 7- Put the apple on table Q: next 5 steps? \u003cPRED\u003eA: 1- put the apple on the table 2- place the apple on the table 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please empty out the bowl of apples?. last 20 steps: 1- Put the apple on table 2- place the apple on the table 3- place the apple on the table 4- Put the apple on table 5- Put the apple on table 6- Put the apple on table 7- Put the apple on table Q: immediate next step? \u003cPRED\u003eA: put the apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the apple on the table\n\u003c/PRED\u003e","video":"4241323874907794191.mp4"}
+{"uid":"10774038101327317940","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the Coca Cola 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":"11418351672077661125.mp4"}
+{"uid":"5898939349487051929","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please empty out the bowl of apples?. last 20 steps: 1- Put the apple on table 2- place the apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the apple on the table 2- Put the apple on table 3- Put the apple on table 4- Put the apple on table 5- place the apple on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please empty out the bowl of apples?. last 20 steps: 1- Put the apple on table 2- place the apple on the table Q: immediate next step? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please empty out the bowl of apples? Q: immediate next step? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e","video":"833063841845079592.mp4"}
+{"uid":"6392811327457040324","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4009965955585801955.mp4"}
+{"uid":"17721209499097774036","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the black pen in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11299039922738132853.mp4"}
+{"uid":"261394884562900727","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput brown tissue on white table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17400412238391066459.mp4"}
+{"uid":"206922657361111602","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please empty out the bowl of apples?. last 20 steps: 1- Put the apple on table 2- place the apple on the table 3- place the apple on the table 4- Put the apple on table 5- Put the apple on table Q: immediate next step? \u003cPRED\u003eA: put the apple on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please empty out the bowl of apples? Q: immediate next step? \u003cPRED\u003eA: put the apple on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the apple on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please empty out the bowl of apples?. last 20 steps: 1- Put the apple on table 2- place the apple on the table 3- place the apple on the table 4- Put the apple on table 5- Put the apple on table Q: next 5 steps? \u003cPRED\u003eA: 1- put the apple on the table 2- Put the apple on table 3- Put the apple on table 4- place the apple on the table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the apple on the table\n\u003c/PRED\u003e","video":"681610221124424941.mp4"}
+{"uid":"1982625172125033528","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove tray inside Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7745433663393677072.mp4"}
+{"uid":"14769412445778731994","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up 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","video":"15698629513663965456.mp4"}
+{"uid":"15355760787014562463","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the apple on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the apple 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: Can you please empty out the bowl of apples?. last 20 steps: 1- Put the apple on table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the apple on table 2- Put the apple on table 3- Put the apple on table 4- Put the apple on table 5- Put the apple on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the apple on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please empty out the bowl of apples? Q: immediate next step? \u003cPRED\u003eA: Put the apple on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please empty out the bowl of apples?. last 20 steps: 1- Put the apple on table Q: immediate next step? \u003cPRED\u003eA: Put the apple on table\n\u003c/PRED\u003e","video":"12604616037087856539.mp4"}
+{"uid":"525246212704179924","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please empty out the bowl of apples?. last 20 steps: 1- Put the apple on table 2- place the apple on the table 3- place the apple on the table 4- Put the apple on table 5- Put the apple on table 6- Put the apple on table 7- Put the apple on table 8- Put the apple on table Q: immediate next step? \u003cPRED\u003eA: put the apple on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the apple on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please empty out the bowl of apples? Q: immediate next step? \u003cPRED\u003eA: put the apple on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please empty out the bowl of apples?. last 20 steps: 1- Put the apple on table 2- place the apple on the table 3- place the apple on the table 4- Put the apple on table 5- Put the apple on table 6- Put the apple on table 7- Put the apple on table 8- Put the apple on table Q: next 5 steps? \u003cPRED\u003eA: 1- put the apple on the table 2- done\n\u003c/PRED\u003e","video":"10595932633683132862.mp4"}
+{"uid":"2499476748364423914","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please empty out the bowl of apples? Q: immediate next step? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please empty out the bowl of apples?. last 20 steps: 1- Put the apple on table Q: next 5 steps? \u003cPRED\u003eA: 1- place the apple on the table 2- Put the apple on table 3- Put the apple on table 4- Put the apple on table 5- Put the apple on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please empty out the bowl of apples?. last 20 steps: 1- Put the apple on table Q: immediate next step? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e","video":"11778655871532682304.mp4"}
+{"uid":"2635153905807675116","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please empty out the bowl of apples?. last 20 steps: 1- Put the apple on table 2- place the apple on the table 3- place the apple on the table 4- Put the apple on table 5- Put the apple on table 6- Put the apple on table Q: next 5 steps? \u003cPRED\u003eA: 1- put the apple on the table 2- place the apple on the table 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please empty out the bowl of apples? Q: immediate next step? \u003cPRED\u003eA: put the apple on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the apple on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please empty out the bowl of apples?. last 20 steps: 1- Put the apple on table 2- place the apple on the table 3- place the apple on the table 4- Put the apple on table 5- Put the apple on table 6- Put the apple on table Q: immediate next step? \u003cPRED\u003eA: put the apple on the table\n\u003c/PRED\u003e","video":"2042033721934377011.mp4"}
+{"uid":"5090224242913102911","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the apple on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please empty out the bowl of apples? Q: immediate next step? \u003cPRED\u003eA: Put the apple on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the apple 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 apple on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please empty out the bowl of apples?. last 20 steps: 1- Put the apple on table 2- place the apple on the table 3- place the apple on the table 4- Put the apple on table 5- Put the apple on table 6- Put the apple on table 7- Put the apple on table Q: immediate next step? \u003cPRED\u003eA: Put the apple on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please empty out the bowl of apples?. last 20 steps: 1- Put the apple on table 2- place the apple on the table 3- place the apple on the table 4- Put the apple on table 5- Put the apple on table 6- Put the apple on table 7- Put the apple on table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the apple on table 2- place the apple on the table 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the apple 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the apple on table\n\u003c/PRED\u003e","video":"2399473538168126505.mp4"}
+{"uid":"8879250167482987669","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the apple on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please empty out the bowl of apples? Q: immediate next step? \u003cPRED\u003eA: put the apple on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please empty out the bowl of apples?. last 20 steps: 1- Put the apple on table 2- place the apple on the table Q: immediate next step? \u003cPRED\u003eA: put the apple on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please empty out the bowl of apples?. last 20 steps: 1- Put the apple on table 2- place the apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the apple on the table 2- Put the apple on table 3- Put the apple on table 4- Put the apple on table 5- Put the apple on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the apple on the table\n\u003c/PRED\u003e","video":"12236284477924163487.mp4"}
+{"uid":"14690014160042340773","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":"14359923278138956139.mp4"}
+{"uid":"10269345841188123202","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":"5237123117596233703.mp4"}
+{"uid":"3105383999508573086","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove to the orange 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":"4116520980714665119.mp4"}
+{"uid":"7012033767980265068","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the apple on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please empty out the bowl of apples?. last 20 steps: 1- Put the apple on table 2- place the apple on the table 3- place the apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the apple on the table 2- Put the apple on table 3- Put the apple on table 4- Put the apple on table 5- place the apple on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please empty out the bowl of apples? Q: immediate next step? \u003cPRED\u003eA: put the apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please empty out the bowl of apples?. last 20 steps: 1- Put the apple on table 2- place the apple on the table 3- place the apple on the table Q: immediate next step? \u003cPRED\u003eA: put the apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the apple on the table\n\u003c/PRED\u003e","video":"13873184185276147169.mp4"}
+{"uid":"17330808744427908529","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the apple on table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the apple 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please empty out the bowl of apples?. last 20 steps: 1- Put the apple on table 2- place the apple on the table 3- place the apple on the table 4- Put the apple on table 5- Put the apple on table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the apple on table 2- Put the apple on table 3- Put the apple on table 4- place the apple on the table 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please empty out the bowl of apples?. last 20 steps: 1- Put the apple on table 2- place the apple on the table 3- place the apple on the table 4- Put the apple on table 5- Put the apple on table Q: immediate next step? \u003cPRED\u003eA: Put the apple on table\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the apple on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the apple on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please empty out the bowl of apples? Q: immediate next step? \u003cPRED\u003eA: Put the apple on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the apple on table\n\u003c/PRED\u003e","video":"572685783596419041.mp4"}
+{"uid":"10609265515039316892","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove towards the chair Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the blue 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":"10698928150387108975.mp4"}
+{"uid":"10036113999536378716","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please empty out the bowl of apples? Q: immediate next step? \u003cPRED\u003eA: Put the apple on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please empty out the bowl of apples?. last 20 steps: 1- Put the apple on table 2- place the apple on the table 3- place the apple on the table 4- Put the apple on table 5- Put the apple on table 6- Put the apple on table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the apple on table 2- Put the apple on table 3- place the apple on the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the apple on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the apple on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the apple 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: Can you please empty out the bowl of apples?. last 20 steps: 1- Put the apple on table 2- place the apple on the table 3- place the apple on the table 4- Put the apple on table 5- Put the apple on table 6- Put the apple on table Q: immediate next step? \u003cPRED\u003eA: Put the apple on table\n\u003c/PRED\u003e","video":"16413261852169034787.mp4"}
+{"uid":"2742642997959840694","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please empty out the bowl of apples?. last 20 steps: 1- Put the apple on table 2- place the apple on the table 3- place the apple on the table 4- Put the apple on table 5- Put the apple on table 6- Put the apple on table 7- Put the apple on table Q: next 5 steps? \u003cPRED\u003eA: 1- place the apple on the table 2- place the apple on the table 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please empty out the bowl of apples?. last 20 steps: 1- Put the apple on table 2- place the apple on the table 3- place the apple on the table 4- Put the apple on table 5- Put the apple on table 6- Put the apple on table 7- Put the apple on table Q: immediate next step? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please empty out the bowl of apples? Q: immediate next step? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e","video":"2883466424689877705.mp4"}
+{"uid":"7728952411267135286","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the apple on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please empty out the bowl of apples?. last 20 steps: 1- Put the apple on table 2- place the apple on the table 3- place the apple on the table 4- Put the apple on table Q: immediate next step? \u003cPRED\u003eA: Put the apple on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the apple on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the apple on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please empty out the bowl of apples? Q: immediate next step? \u003cPRED\u003eA: Put the apple on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please empty out the bowl of apples?. last 20 steps: 1- Put the apple on table 2- place the apple on the table 3- place the apple on the table 4- Put the apple on table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the apple on table 2- Put the apple on table 3- Put the apple on table 4- Put the apple on table 5- place the apple on the table\n\u003c/PRED\u003e","video":"16317107320182939588.mp4"}
+{"uid":"4323798098227630904","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the fork in the left holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13522195484865241816.mp4"}
+{"uid":"6694015727396610995","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the sticky note in glass vessel Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5197421478508887355.mp4"}
+{"uid":"3549295006668571572","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please empty out the bowl of apples?. last 20 steps: 1- Put the apple on table 2- place the apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the apple on table 2- Put the apple on table 3- Put the apple on table 4- Put the apple on table 5- Put the apple on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the apple on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please empty out the bowl of apples? Q: immediate next step? \u003cPRED\u003eA: Put the apple on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the apple 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 the apple on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please empty out the bowl of apples?. last 20 steps: 1- Put the apple on table 2- place the apple on the table Q: immediate next step? \u003cPRED\u003eA: Put the apple on table\n\u003c/PRED\u003e","video":"11236089552323456513.mp4"}
+{"uid":"65777676173140565","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue pen in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2918356560604458954.mp4"}
+{"uid":"14804737371533816278","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":"1593577528663413548.mp4"}
+{"uid":"912696233005760902","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the red packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11361480591877974216.mp4"}
+{"uid":"1836344695294362158","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: can you please help me clean up the water spill in the mk? Q: immediate next step? \u003cPRED\u003eA: place the tissue paper on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you please help me clean up the water spill in the mk?. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the tissue paper on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the tissue paper on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the tissue paper on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you please help me clean up the water spill in the mk?. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the tissue paper on the table 2- place the tissue paper on the tissue paper 3- place the tissue paper on the tissue papers 4- place the tissue papers on the table 5- wipe the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the tissue paper on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the tissue paper on the table\n\u003c/PRED\u003e","video":"2225997453285120277.mp4"}
+{"uid":"8394462390594037392","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you please help me clean up the water spill in the mk?. last 20 steps: 1- place the tissue paper on the table 2- place the tissue paper on the tissue paper 3- place the tissue paper on the tissue papers 4- place the tissue papers on the table 5- wipe the table 6- place the tissue papers in the dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the tissue papers in the dustbin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you please help me clean up the water spill in the mk? Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you please help me clean up the water spill in the mk?. last 20 steps: 1- place the tissue paper on the table 2- place the tissue paper on the tissue paper 3- place the tissue paper on the tissue papers 4- place the tissue papers on the table 5- wipe the table 6- place the tissue papers in the dustbin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the tissue papers in the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17930135254552743874.mp4"}
+{"uid":"2204319348814955751","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the sticky note in the shelf Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9957146542620016607.mp4"}
+{"uid":"7008406153843036106","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: wipe the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: wipe the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you please help me clean up the water spill in the mk? Q: immediate next step? \u003cPRED\u003eA: wipe the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nwipe the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you please help me clean up the water spill in the mk?. last 20 steps: 1- place the tissue paper on the table 2- place the tissue paper on the tissue paper 3- place the tissue paper on the tissue papers 4- place the tissue papers on the table Q: next 5 steps? \u003cPRED\u003eA: 1- wipe the table 2- place the tissue papers in the dustbin 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you please help me clean up the water spill in the mk?. last 20 steps: 1- place the tissue paper on the table 2- place the tissue paper on the tissue paper 3- place the tissue paper on the tissue papers 4- place the tissue papers on the table Q: immediate next step? \u003cPRED\u003eA: wipe the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nwipe the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11360592359536764139.mp4"}
+{"uid":"1310833827354351616","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the snack 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":"9784297226760289903.mp4"}
+{"uid":"5579862553510526336","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the tissue papers in the dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the tissue papers in the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the tissue papers in the dustbin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the tissue papers in the dustbin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you please help me clean up the water spill in the mk?. last 20 steps: 1- place the tissue paper on the table 2- place the tissue paper on the tissue paper 3- place the tissue paper on the tissue papers 4- place the tissue papers on the table 5- wipe the table Q: immediate next step? \u003cPRED\u003eA: place the tissue papers in the dustbin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you please help me clean up the water spill in the mk? Q: immediate next step? \u003cPRED\u003eA: place the tissue papers in the dustbin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you please help me clean up the water spill in the mk?. last 20 steps: 1- place the tissue paper on the table 2- place the tissue paper on the tissue paper 3- place the tissue paper on the tissue papers 4- place the tissue papers on the table 5- wipe the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the tissue papers in the dustbin 2- done\n\u003c/PRED\u003e","video":"14545264400293277595.mp4"}
+{"uid":"5502623606845494201","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nThrow it 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":"1030979777338028221.mp4"}
+{"uid":"12447407032259432417","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the tissue paper on the tissue papers\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you please help me clean up the water spill in the mk?. last 20 steps: 1- place the tissue paper on the table 2- place the tissue paper on the tissue paper Q: immediate next step? \u003cPRED\u003eA: place the tissue paper on the tissue papers\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you please help me clean up the water spill in the mk?. last 20 steps: 1- place the tissue paper on the table 2- place the tissue paper on the tissue paper Q: next 5 steps? \u003cPRED\u003eA: 1- place the tissue paper on the tissue papers 2- place the tissue papers on the table 3- wipe the table 4- place the tissue papers in the dustbin 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the tissue paper on the tissue papers Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you please help me clean up the water spill in the mk? Q: immediate next step? \u003cPRED\u003eA: place the tissue paper on the tissue papers\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the tissue paper on the tissue papers Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 tissue paper on the tissue papers\n\u003c/PRED\u003e","video":"4602727275959756957.mp4"}
+{"uid":"14072089669204025880","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the yellow 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":"16502335491025778608.mp4"}
+{"uid":"130747321195873080","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up 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":"1741719001873642462.mp4"}
+{"uid":"4515188141733942336","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the tissue papers on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the tissue papers 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":"10192205468241753414.mp4"}
+{"uid":"9849977010670004827","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: can you please help me clean up the water spill in the mk? Q: immediate next step? \u003cPRED\u003eA: place the tissue papers on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the tissue papers on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 tissue papers on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you please help me clean up the water spill in the mk?. last 20 steps: 1- place the tissue paper on the table 2- place the tissue paper on the tissue paper 3- place the tissue paper on the tissue papers Q: next 5 steps? \u003cPRED\u003eA: 1- place the tissue papers on the table 2- wipe the table 3- place the tissue papers in the dustbin 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the tissue papers on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the tissue papers on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you please help me clean up the water spill in the mk?. last 20 steps: 1- place the tissue paper on the table 2- place the tissue paper on the tissue paper 3- place the tissue paper on the tissue papers Q: immediate next step? \u003cPRED\u003eA: place the tissue papers on the table\n\u003c/PRED\u003e","video":"6882606448057591210.mp4"}
+{"uid":"14440638432144589925","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: wipe the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nwipe 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":"631642981371726369.mp4"}
+{"uid":"3831916859568066033","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the tissue paper on the tissue paper\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you please help me clean up the water spill in the mk? Q: immediate next step? \u003cPRED\u003eA: place the tissue paper on the tissue paper\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you please help me clean up the water spill in the mk?. last 20 steps: 1- place the tissue paper on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the tissue paper on the tissue paper 2- place the tissue paper on the tissue papers 3- place the tissue papers on the table 4- wipe the table 5- place the tissue papers in the dustbin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you please help me clean up the water spill in the mk?. last 20 steps: 1- place the tissue paper on the table Q: immediate next step? \u003cPRED\u003eA: place the tissue paper on the tissue paper\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the tissue paper on the tissue paper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the tissue paper on the tissue paper\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the tissue paper on the tissue paper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13656224708652654479.mp4"}
+{"uid":"2430888725070696326","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: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 chocolate in the bowl Q: immediate next step? \u003cPRED\u003eA: put the packet in the empty bowl\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\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 chocolate in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the empty bowl 2- put the bule packet in the bowl 3- put the black chocolate 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: put the packet in the empty bowl\n\u003c/PRED\u003e","video":"13979264515704659346.mp4"}
+{"uid":"15322709888788636918","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out fruits from the bowl. last 20 steps: 1- put apple on the table 2- put pear on the table 3- put apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put pear on the table 2- put apple on the table 3- put pear on the table 4- put pear on the table 5- put pear on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pear on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out fruits from the bowl. last 20 steps: 1- put apple on the table 2- put pear on the table 3- put apple on the table Q: immediate next step? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput pear on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7985995448871346637.mp4"}
+{"uid":"8905134901027379693","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out fruits from the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put apple on the table 2- put pear on the table 3- put apple on the table 4- put pear on the table 5- put apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out fruits from the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e","video":"2336161146923749110.mp4"}
+{"uid":"14617608302387036965","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nRelease the blue pen Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"497914913194320649.mp4"}
+{"uid":"6330071951171423255","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the chocolate in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"613922965785999247.mp4"}
+{"uid":"3674640983260051164","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Get me a set of pens and place it on the table. last 20 steps: 1- put black pen in the holder 2- Put red pen in the holder 3- Put blue pen in the holder Q: immediate next step? \u003cPRED\u003eA: pick up the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Get me a set of pens and place it on the table Q: immediate next step? \u003cPRED\u003eA: pick up the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Get me a set of pens and place it on the table. last 20 steps: 1- put black pen in the holder 2- Put red pen in the holder 3- Put blue pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the holder 2- Take the holder to the holder 3- Place the holder on the table 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up 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: pick up the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up 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":"14140629237314572938.mp4"}
+{"uid":"2253261004748219579","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Take the holder to the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Get me a set of pens and place it on the table. last 20 steps: 1- put black pen in the holder 2- Put red pen in the holder 3- Put blue pen in the holder 4- pick up the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Take the holder to the holder 2- Place the holder on the table 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Get me a set of pens and place it on the table. last 20 steps: 1- put black pen in the holder 2- Put red pen in the holder 3- Put blue pen in the holder 4- pick up the holder Q: immediate next step? \u003cPRED\u003eA: Take the holder to the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nTake the holder to 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: Get me a set of pens and place it on the table Q: immediate next step? \u003cPRED\u003eA: Take the holder to the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Take the holder to the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nTake the holder to 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":"3068482933143210110.mp4"}
+{"uid":"8631321698951931532","text":"\u003ctask:success:discrete:True\u003e\nput the bule 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 bule packet in the bowl\n\u003c/PRED\u003e","video":"10878728473783660518.mp4"}
+{"uid":"7410539492281645496","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 Q: next 5 steps? \u003cPRED\u003eA: 1- put orange on big bowl 2- put the blue chocolate in the bowl 3- put the white packet in the bowl 4- put the bule packet in the bowl 5- put the black chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange on big bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput orange on big bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange on big bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 Q: immediate next step? \u003cPRED\u003eA: put orange on big 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 orange on big bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange on big bowl\n\u003c/PRED\u003e","video":"11729876024322772448.mp4"}
+{"uid":"8827076709589993861","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- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer 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\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: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","video":"14789316026877103799.mp4"}
+{"uid":"33022586853559413","text":"\u003ctask:success:discrete:True\u003e\nput pear on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e","video":"10392996329420292645.mp4"}
+{"uid":"9621439577759133419","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace block on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3632366842522653878.mp4"}
+{"uid":"17621892432147130647","text":"\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\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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e","video":"6644310935357742581.mp4"}
+{"uid":"1157339205238973446","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out fruits from the bowl. last 20 steps: 1- put apple on the table 2- put pear on the table 3- put apple on the table 4- put pear on the table 5- put apple on the table 6- put pear on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put pear on the table 2- put pear on the table 3- put pear on the table 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out fruits from the bowl. last 20 steps: 1- put apple on the table 2- put pear on the table 3- put apple on the table 4- put pear on the table 5- put apple on the table 6- put pear on the table Q: immediate next step? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pear on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e","video":"16317746482804599413.mp4"}
+{"uid":"14202069651394442256","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the binder clip in the black tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"709459601288684529.mp4"}
+{"uid":"4651444288037852005","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":"2335635460497517571.mp4"}
+{"uid":"4380591144123535298","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen cardboard slide Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16856139519232751844.mp4"}
+{"uid":"10650975409467838937","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 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: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: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 chocolate in the bowl Q: immediate next step? \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 chocolate in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packet in the bowl 2- put the bule packet in the bowl 3- put the black chocolate in the bowl 4- done\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\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","video":"11420060634900833604.mp4"}
+{"uid":"12862762015771411882","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange on big 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 orange on big 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 orange on big bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange on big bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 orange on big bowl 2- put the orange in the bowl 3- put the orange in the bowl 4- put the blue chocolate in the bowl 5- put the white packet in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput orange on big 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 orange on big bowl\n\u003c/PRED\u003e","video":"3202726696293506640.mp4"}
+{"uid":"13481019911349379955","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":"23741535407106564.mp4"}
+{"uid":"4156756821928765953","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the apple into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2878243792726166993.mp4"}
+{"uid":"13239602929161968722","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the brown packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15061120502559311046.mp4"}
+{"uid":"10441023271018700552","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 9- put the blue chocolate in the bowl 10- put the white packet in the bowl 11- put the bule packet in the bowl 12- put the black chocolate in the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the black chocolate 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 chocolate in the bowl 10- put the white packet in the bowl 11- put the bule packet in the bowl 12- put the black chocolate in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the black chocolate 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: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":"447999305697177273.mp4"}
+{"uid":"17760184844353296744","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14916842774712191254.mp4"}
+{"uid":"10589863090436395624","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pear on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out fruits from the bowl. last 20 steps: 1- put apple on the table Q: immediate next step? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput pear on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out fruits from the bowl. last 20 steps: 1- put apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put pear on the table 2- put apple on the table 3- put pear on the table 4- put apple on the table 5- put pear on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e","video":"1412169782543379094.mp4"}
+{"uid":"1082231225412909469","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":"6848988058886028876.mp4"}
+{"uid":"7207922671054822055","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the orange cable Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8603787793923350123.mp4"}
+{"uid":"3596107944240762341","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put orange on big bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput orange on big 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":"2304436894570482145.mp4"}
+{"uid":"7129526482469506816","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange on big bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange on big bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput orange on big 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 Q: next 5 steps? \u003cPRED\u003eA: 1- put orange on big bowl 2- put the orange in the bowl 3- put the orange in the bowl 4- put the blue chocolate 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 orange on big bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange on big 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 orange on big bowl\n\u003c/PRED\u003e","video":"5542085029262463567.mp4"}
+{"uid":"17342756805404823818","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue chocolate 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 chocolate 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 chocolate in the bowl 2- put the white packet in the bowl 3- put the bule packet in the bowl 4- put the black chocolate in the bowl 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the blue chocolate in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue chocolate in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: 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 chocolate in the bowl\n\u003c/PRED\u003e","video":"8129211378470580.mp4"}
+{"uid":"3413270439551595860","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace 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":"14775001031197850796.mp4"}
+{"uid":"17625653207009939277","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":"766772677659124526.mp4"}
+{"uid":"4609521369848326930","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 chocolate in the bowl 10- put the white packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the empty bowl 2- put the black chocolate in the bowl 3- 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 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\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 chocolate in the bowl 10- put the white packet in the bowl Q: immediate next step? \u003cPRED\u003eA: put the packet in the empty bowl\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":"14829683081309739548.mp4"}
+{"uid":"9434058263473941610","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":"8263209904863128240.mp4"}
+{"uid":"7110301306523800943","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put red pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Get me a set of pens and place it on the table. last 20 steps: 1- put black pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put red pen in the holder 2- Put blue pen in the holder 3- pick up the holder 4- Take the holder to the holder 5- Place the holder on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut red 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: Put red pen in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Get me a set of pens and place it on the table Q: immediate next step? \u003cPRED\u003eA: Put red pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut red 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: Get me a set of pens and place it on the table. last 20 steps: 1- put black pen in the holder Q: immediate next step? \u003cPRED\u003eA: Put red pen in the holder\n\u003c/PRED\u003e","video":"8062095919175746881.mp4"}
+{"uid":"15782030176696891660","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove the orange 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":"8014651062026647890.mp4"}
+{"uid":"1968244002693771211","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack 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 Q: immediate next step? \u003cPRED\u003eA: unstack bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 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 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","video":"15922338476043356822.mp4"}
+{"uid":"3204109351111312177","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange in the big 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 big 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 big 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 big 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- put the orange in the big bowl 2- put the orange in the bowl 3- put the orange in the bowl 4- put the blue chocolate in the bowl 5- put the white packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange in the big bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5308968108360723262.mp4"}
+{"uid":"11636413677312057606","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput white chocolate ball in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17068962715121422217.mp4"}
+{"uid":"5041904412124273854","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: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 chocolate in the bowl 10- put the white packet in the bowl 11- put the bule 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: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: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 chocolate in the bowl 10- put the white packet in the bowl 11- put the bule packet in the bowl Q: immediate next step? \u003cPRED\u003eA: put the packet in the empty bowl\n\u003c/PRED\u003e","video":"11216610427127881255.mp4"}
+{"uid":"12990116494424293328","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask: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: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: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: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:success:discrete:False\u003e\nopen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13971223901573515721.mp4"}
+{"uid":"8349686335684086093","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack 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 Q: immediate next step? \u003cPRED\u003eA: unstack 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 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: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 bowl\n\u003c/PRED\u003e","video":"9887000525474288421.mp4"}
+{"uid":"15993457065824758928","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":"2049710522030107922.mp4"}
+{"uid":"13388610828672078024","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the knives 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":"5038336531977500630.mp4"}
+{"uid":"16035601697610287176","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3685440576372234082.mp4"}
+{"uid":"12089276827431813612","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e\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","video":"17869579686837933587.mp4"}
+{"uid":"6809446607704668486","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out fruits from the bowl. last 20 steps: 1- put apple on the table 2- put pear on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put apple on the table 2- put pear on the table 3- put apple on the table 4- put pear on the table 5- put pear on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out fruits from the bowl. last 20 steps: 1- put apple on the table 2- put pear on the table Q: immediate next step? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13491724410043072951.mp4"}
+{"uid":"17537992823650513720","text":"\u003ctask:success:discrete:True\u003e\nTake the holder to 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: Take the holder to the holder\n\u003c/PRED\u003e","video":"12557483825486002724.mp4"}
+{"uid":"3421436099652456314","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the  orange into the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9235446791751124335.mp4"}
+{"uid":"17644601209881268352","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput pear on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12414685039618889600.mp4"}
+{"uid":"9426516594926498492","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange on big bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\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 on big 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 Q: immediate next step? \u003cPRED\u003eA: put orange on big bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange on big 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 orange on big bowl 2- put the blue chocolate in the bowl 3- put the white packet in the bowl 4- put the bule packet in the bowl 5- put the black chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange on big 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 orange on big bowl\n\u003c/PRED\u003e","video":"11246946924968045693.mp4"}
+{"uid":"12391652880884981240","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the battery in the board Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15861436660080501856.mp4"}
+{"uid":"8065823071108793988","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 big 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 big bowl 2- put the orange in the bowl 3- put the blue chocolate in the bowl 4- put the white packet in the bowl 5- put the bule packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange in the big bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 big 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 big 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 big bowl\n\u003c/PRED\u003e","video":"3987357539067954672.mp4"}
+{"uid":"6442449741680160046","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the red packet on the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16654980197744364312.mp4"}
+{"uid":"5438914422612599738","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":"16474987759589215245.mp4"}
+{"uid":"17198161788450361566","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Get me a set of pens and place it on the table. last 20 steps: 1- put black pen in the holder 2- Put red pen in the holder 3- Put blue pen in the holder 4- pick up the holder 5- Take the holder to the holder Q: immediate next step? \u003cPRED\u003eA: Place the holder on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Get me a set of pens and place it on the table Q: immediate next step? \u003cPRED\u003eA: Place the holder on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the holder on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the holder on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the holder on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED: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 me a set of pens and place it on the table. last 20 steps: 1- put black pen in the holder 2- Put red pen in the holder 3- Put blue pen in the holder 4- pick up the holder 5- Take the holder to the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Place the holder on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the holder on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4001139215122464088.mp4"}
+{"uid":"8492895590377847586","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nArrange the blue 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":"12394034090246724772.mp4"}
+{"uid":"3194409130601122289","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput chocolate in small bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put chocolate in small 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 chocolate in the bowl 10- put the white packet in the bowl 11- put the bule packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put chocolate in small 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 chocolate in small bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put chocolate in small bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput chocolate in small 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 chocolate in the bowl 10- put the white packet in the bowl 11- put the bule packet in the bowl Q: immediate next step? \u003cPRED\u003eA: put chocolate in small bowl\n\u003c/PRED\u003e","video":"6419151293539980934.mp4"}
+{"uid":"14579512932129339611","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put blue pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut 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: Get me a set of pens and place it on the table Q: immediate next step? \u003cPRED\u003eA: Put blue pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Get me a set of pens and place it on the table. last 20 steps: 1- put black pen in the holder 2- Put red pen in the holder Q: immediate next step? \u003cPRED\u003eA: Put 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 blue pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Get me a set of pens and place it on the table. last 20 steps: 1- put black pen in the holder 2- Put red pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put blue pen in the holder 2- pick up the holder 3- Take the holder to the holder 4- Place the holder on the table 5- done\n\u003c/PRED\u003e","video":"10550583189064175227.mp4"}
+{"uid":"10090913959347955963","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out fruits from the bowl. last 20 steps: 1- put apple on the table 2- put pear on the table 3- put apple on the table 4- put pear on the table 5- put apple on the table 6- put pear on the table 7- put pear on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put pear on the table 2- put pear on the table 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out fruits from the bowl. last 20 steps: 1- put apple on the table 2- put pear on the table 3- put apple on the table 4- put pear on the table 5- put apple on the table 6- put pear on the table 7- put pear on the table Q: immediate next step? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pear on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6665201369039586873.mp4"}
+{"uid":"10267802284025408620","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":"2905416033497592645.mp4"}
+{"uid":"10554179636231187465","text":"\u003ctask:success:discrete:True\u003e\nput pear on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e","video":"5998057007537828426.mp4"}
+{"uid":"5454533923935936746","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":"5110611630973424485.mp4"}
+{"uid":"2408331263549344769","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: put chocolate in small bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put chocolate in small bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput chocolate in small 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 chocolate in small bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 Q: next 5 steps? \u003cPRED\u003eA: 1- put chocolate in small bowl 2- put the white packet in the bowl 3- put the bule packet in the bowl 4- put the black chocolate 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 chocolate in small 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 chocolate in small bowl\n\u003c/PRED\u003e","video":"16595269710662058130.mp4"}
+{"uid":"4725822074492187192","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: 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: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: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 white packet in the bowl 3- put the bule packet in the bowl 4- put the black chocolate in the bowl 5- done\n\u003c/PRED\u003e","video":"3528894066232617235.mp4"}
+{"uid":"17903883141823781530","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":"4373906008397929078.mp4"}
+{"uid":"4520128036043946316","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"7062808274466324640.mp4"}
+{"uid":"8443341244980453559","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ngo to the second left chair Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12130848783135009075.mp4"}
+{"uid":"9996322534504710848","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the yellow marker in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10606425110907991568.mp4"}
+{"uid":"16841277474750665916","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput spoons on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"47291566033154945.mp4"}
+{"uid":"5168226667053579848","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":"292937884430392897.mp4"}
+{"uid":"112982683651383334","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- 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\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: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","video":"2033951888788640171.mp4"}
+{"uid":"5172019891855259336","text":"\u003ctask:success:discrete:True\u003e\nput orange on big 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 on big bowl\n\u003c/PRED\u003e","video":"13322359835721009753.mp4"}
+{"uid":"14594587178230588880","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":"10986726141873695877.mp4"}
+{"uid":"781314786060953821","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":"9469318829937742060.mp4"}
+{"uid":"13920061865995961234","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":"7684334889969846531.mp4"}
+{"uid":"6690136233479142908","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace an invisible tape 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":"14773995581031476155.mp4"}
+{"uid":"13096535750652718691","text":"\u003ctask:success:discrete:False\u003e\nput pear on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out fruits from the bowl. last 20 steps: 1- put apple on the table 2- put pear on the table 3- put apple on the table 4- put pear on the table 5- put apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put pear on the table 2- put pear on the table 3- put pear on the table 4- put pear on the table 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pear on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out fruits from the bowl. last 20 steps: 1- put apple on the table 2- put pear on the table 3- put apple on the table 4- put pear on the table 5- put apple on the table Q: immediate next step? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e","video":"6564016225693451219.mp4"}
+{"uid":"7271668978381486126","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nslightly move your arm forward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13056144307755718609.mp4"}
+{"uid":"464052942171325786","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":"12796114401687822773.mp4"}
+{"uid":"4657237156302765097","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5207637734571735137.mp4"}
+{"uid":"12688420616929828028","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12924627567249005972.mp4"}
+{"uid":"2879953141713395381","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the bule packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the bule 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 bule packet in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the bule 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 chocolate in the bowl 10- put the white packet in the bowl Q: immediate next step? \u003cPRED\u003eA: put the bule 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 chocolate in the bowl 10- put the white packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the bule packet in the bowl 2- put the black chocolate in the bowl 3- 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\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 bule packet in the bowl\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","video":"6796546439323478663.mp4"}
+{"uid":"11422883235984019956","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 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \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: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: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":"17354447543518559692.mp4"}
+{"uid":"13901875157537518322","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":"5159480197268133661.mp4"}
+{"uid":"15148144196129143597","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: 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: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\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 chocolate in the bowl 4- put the white packet in the bowl 5- put the bule packet in the bowl\n\u003c/PRED\u003e","video":"14356025137411618187.mp4"}
+{"uid":"15166822276531236935","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":"15717466714916404239.mp4"}
+{"uid":"12122718941667256299","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Get me a set of pens and place it on the table. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put black pen in the holder 2- Put red pen in the holder 3- Put blue pen in the holder 4- pick up the holder 5- Take the holder to the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput black pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put black pen in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Get me a set of pens and place it on the table Q: immediate next step? \u003cPRED\u003eA: put black pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput black 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: Get me a set of pens and place it on the table. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put black pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put black pen in the holder\n\u003c/PRED\u003e","video":"2847804920532113516.mp4"}
+{"uid":"6213031532340376634","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the black chocolate 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 chocolate in the bowl 10- put the white packet in the bowl 11- put the bule packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the black chocolate 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 black chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the black chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the black chocolate in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the black chocolate in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: 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 chocolate in the bowl 10- put the white packet in the bowl 11- put the bule packet in the bowl Q: immediate next step? \u003cPRED\u003eA: put the black chocolate in the bowl\n\u003c/PRED\u003e","video":"11930334792765088465.mp4"}
+{"uid":"4684171575439631026","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":"6880658702572838728.mp4"}
+{"uid":"1655112556696676852","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange in the big bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\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 big bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange in the big 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- put the orange in the big bowl 2- put the orange in the bowl 3- put the orange in the bowl 4- put the blue chocolate in the bowl 5- put the white packet in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange in the big 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 Q: immediate next step? \u003cPRED\u003eA: put the orange in the big 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 big bowl\n\u003c/PRED\u003e","video":"12189026333842243844.mp4"}
+{"uid":"454893438479750074","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the gate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12285258716375744123.mp4"}
+{"uid":"4620619048254761991","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: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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e","video":"14583120213890900372.mp4"}
+{"uid":"6206036600071419772","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the dice on the game 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":"5143662225272163990.mp4"}
+{"uid":"69320516918316256","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace  blue marker in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17592799756128772578.mp4"}
+{"uid":"2853426836811199830","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white packet in small 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 chocolate in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put white packet in small bowl 2- put the black chocolate in the bowl 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput white packet in small 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 white packet in small 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 chocolate in the bowl Q: immediate next step? \u003cPRED\u003eA: put white packet in small bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput white packet in small bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 white packet in small bowl\n\u003c/PRED\u003e","video":"16031490261162764313.mp4"}
+{"uid":"11517464543881918886","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop apple 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":"5875996018373500826.mp4"}
+{"uid":"2199401740790614507","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue packet in small bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput blue packet in small 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: put blue packet in small 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 chocolate in the bowl 10- put the white packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put blue packet in small bowl 2- put the black chocolate in the bowl 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue packet in small bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 chocolate in the bowl 10- put the white packet in the bowl Q: immediate next step? \u003cPRED\u003eA: put blue packet in small bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue packet in small bowl\n\u003c/PRED\u003e","video":"14601162388189125903.mp4"}
+{"uid":"10937628241618106007","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \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: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: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: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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e","video":"7397888436170109736.mp4"}
+{"uid":"6813567356448467187","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 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: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:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask: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":"3615891360260199383.mp4"}
+{"uid":"8200106492395563987","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":"7290972116253549569.mp4"}
+{"uid":"208574185952299557","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out fruits from the bowl. last 20 steps: 1- put apple on the table 2- put pear on the table 3- put apple on the table 4- put pear on the table 5- put apple on the table 6- put pear on the table 7- put pear on the table 8- put pear on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put pear on the table 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out fruits from the bowl. last 20 steps: 1- put apple on the table 2- put pear on the table 3- put apple on the table 4- put pear on the table 5- put apple on the table 6- put pear on the table 7- put pear on the table 8- put pear on the table Q: immediate next step? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pear on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3802525225912744720.mp4"}
+{"uid":"7231649668624882553","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15316786234750357565.mp4"}
+{"uid":"9534193999558261900","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":"808836788021571156.mp4"}
+{"uid":"2327978463461813668","text":"\u003ctask:success:discrete:True\u003e\nput chocolate in small 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 chocolate in small bowl\n\u003c/PRED\u003e","video":"15906784897617584469.mp4"}
+{"uid":"6688281710371765967","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the white packet on tha table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11420734130868052065.mp4"}
+{"uid":"6523441740190755319","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":"1723157203804594468.mp4"}
+{"uid":"12254881643294332530","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove away from the pens Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7477819168039551357.mp4"}
+{"uid":"3134902194031878602","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace an 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":"15278537379170017687.mp4"}
+{"uid":"6335777093467578951","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: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 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: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 chocolate in the bowl 3- put the white packet in the bowl 4- put the bule packet in the bowl 5- put the black chocolate 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":"10217668897801742994.mp4"}
+{"uid":"14451256156642522048","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 orange in the big bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange in the big bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\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 big bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange in the big 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 big bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange in the big 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- put the orange in the big bowl 2- put the white packet in the bowl 3- put the bule packet in the bowl 4- put the black chocolate in the bowl 5- done\n\u003c/PRED\u003e","video":"13148004757576409908.mp4"}
+{"uid":"5021249501632983473","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":"14231997670970917312.mp4"}
+{"uid":"6565710684695682360","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut black sponge 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":"15133647865497685153.mp4"}
+{"uid":"18301751451755252555","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\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the orange in the big bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the orange in the big 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":"16993733343367355184.mp4"}
+{"uid":"319119386748018379","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: unstack bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 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 bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer 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: none Q: immediate next step? \u003cPRED\u003eA: unstack bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nunstack 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 bowl\n\u003c/PRED\u003e","video":"4439933071259857880.mp4"}
+{"uid":"14947309909182145669","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10095105384131761072.mp4"}
+{"uid":"8850943581018259846","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out fruits from the bowl. last 20 steps: 1- put apple on the table 2- put pear on the table 3- put apple on the table 4- put pear on the table Q: immediate next step? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out fruits from the bowl. last 20 steps: 1- put apple on the table 2- put pear on the table 3- put apple on the table 4- put pear on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put apple on the table 2- put pear on the table 3- put pear on the table 4- put pear on the table 5- put pear on the table\n\u003c/PRED\u003e","video":"12931863011149073066.mp4"}
+{"uid":"5750687456364837569","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12190972954651706092.mp4"}
+{"uid":"8561359891658814923","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: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 chocolate in the bowl 5- put the white 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: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: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","video":"7680199062906707502.mp4"}
+{"uid":"1149305156155587201","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput pear on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"583612015290801653.mp4"}
+{"uid":"709912379578419957","text":"\u003ctask:success:discrete:True\u003e\nput the orange in the big 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 big bowl\n\u003c/PRED\u003e","video":"18394003003531050503.mp4"}
+{"uid":"14233388779030324978","text":"\u003ctask:success:discrete:True\u003e\nput the blue chocolate 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 chocolate in the bowl\n\u003c/PRED\u003e","video":"4182267422994146212.mp4"}
+{"uid":"1480013491612233994","text":"\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":"14233814524380458205.mp4"}
+{"uid":"14093056476162995755","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: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: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\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 chocolate 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","video":"7144344655351309461.mp4"}
+{"uid":"7118009381715179427","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":"107327808563718997.mp4"}
+{"uid":"12582044782865680809","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the grapes in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1942574965619221909.mp4"}
+{"uid":"11799972299127363190","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"6937230016957208120.mp4"}
+{"uid":"2101662957770913756","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop candy into organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17759683004185955379.mp4"}
+{"uid":"5308686013316205418","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace white sugar packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace white sugar packet in the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: place white sugar packet in the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place brown sugar packet in the organizer 2- drop candy into organizer 3- place brown sugar packet in the organizer 4- put the green packet in the tray 5- place green sugar packet in the organizer 6- place pink sugar packet in the organizer 7- place pink sugar packet in the organizer 8- place pink sugar packets in the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- place white sugar packet in the organizer 2- place white sugar packet in the organizer 3- drop candy into organizer 4- place white sugar packet in the organizer 5- drop candy into organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place white sugar packet in the organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place brown sugar packet in the organizer 2- drop candy into organizer 3- place brown sugar packet in the organizer 4- put the green packet in the tray 5- place green sugar packet in the organizer 6- place pink sugar packet in the organizer 7- place pink sugar packet in the organizer 8- place pink sugar packets in the organizer Q: immediate next step? \u003cPRED\u003eA: place white sugar packet in the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place white sugar packet in the organizer\n\u003c/PRED\u003e","video":"1873531896157640691.mp4"}
+{"uid":"5464813702024243110","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the paper chit in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16665943806651955775.mp4"}
+{"uid":"14712441797651047175","text":"\u003ctask:success:discrete:True\u003e\ndrop candy into organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e","video":"967420076095276113.mp4"}
+{"uid":"16144076989899986216","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":"13103721068015717841.mp4"}
+{"uid":"4537459250085114575","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop arm candy into organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop arm candy into organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place brown sugar packet in the organizer 2- drop candy into organizer 3- place brown sugar packet in the organizer 4- put the green packet in the tray 5- place green sugar packet in the organizer 6- place pink sugar packet in the organizer 7- place pink sugar packet in the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- drop arm candy into organizer 2- drop candy into organizer 3- place white sugar packet in the organizer 4- drop candy into organizer 5- place white sugar packet in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop arm candy into organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place brown sugar packet in the organizer 2- drop candy into organizer 3- place brown sugar packet in the organizer 4- put the green packet in the tray 5- place green sugar packet in the organizer 6- place pink sugar packet in the organizer 7- place pink sugar packet in the organizer Q: immediate next step? \u003cPRED\u003eA: drop arm candy into organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop arm candy into organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: drop arm candy into organizer\n\u003c/PRED\u003e","video":"3922984174738052909.mp4"}
+{"uid":"16611541642336716007","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place brown sugar packet in the organizer 2- drop candy into organizer Q: immediate next step? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place brown sugar packet in the organizer 2- drop candy into organizer Q: next 5 steps? \u003cPRED\u003eA: 1- drop candy into organizer 2- put the green packet in the tray 3- place green sugar packet in the organizer 4- place pink sugar packet in the organizer 5- place pink sugar packet in the organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop candy into organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2383299456555880301.mp4"}
+{"uid":"14287704846341606127","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a pistachio in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14228763383534492110.mp4"}
+{"uid":"5428704081736749952","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the keys in the lock\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Return the red notebook and the black marker to the file cabinet, then lock the cabinet Q: immediate next step? \u003cPRED\u003eA: Put the keys in the lock\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Return the red notebook and the black marker to the file cabinet, then lock the cabinet. last 20 steps: 1- Open the drawer 2- Put the notebook in the drawer 3- Move the tray backward 4- Put the marker in the tray 5- Close the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Put the keys in the lock 2- Lock the drawer 3- Put the keys on the table 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the keys in the lock Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Return the red notebook and the black marker to the file cabinet, then lock the cabinet. last 20 steps: 1- Open the drawer 2- Put the notebook in the drawer 3- Move the tray backward 4- Put the marker in the tray 5- Close the drawer Q: immediate next step? \u003cPRED\u003eA: Put the keys in the lock\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the keys in the lock Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\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 keys in the lock\n\u003c/PRED\u003e","video":"7485522942866947596.mp4"}
+{"uid":"10428502331826974355","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place green sugar packet in the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace green sugar packet in the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8749072989457575484.mp4"}
+{"uid":"6595931029384957354","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the white packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the white packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17364432214596377995.mp4"}
+{"uid":"10508919738010611713","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sticky notes on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13061656986531175786.mp4"}
+{"uid":"7296671554671050891","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the 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":"14360344287579357550.mp4"}
+{"uid":"5196419440770109668","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the brown 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":"15704324549849173988.mp4"}
+{"uid":"4909177164550915132","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Return the red notebook and the black marker to the file cabinet, then lock the cabinet. last 20 steps: 1- Open the drawer 2- Put the notebook in the drawer 3- Move the tray backward 4- Put the marker in the tray Q: immediate next step? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nClose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Return the red notebook and the black marker to the file cabinet, then lock the cabinet 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Return the red notebook and the black marker to the file cabinet, then lock the cabinet. last 20 steps: 1- Open the drawer 2- Put the notebook in the drawer 3- Move the tray backward 4- Put the marker in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Close the drawer 2- Put the keys in the lock 3- Lock the drawer 4- Put the keys on the table 5- done\n\u003c/PRED\u003e","video":"7253097705669414297.mp4"}
+{"uid":"3732714474160483080","text":"\u003ctask:success:discrete:True\u003e\nplace white sugar packet in the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place white sugar packet in the organizer\n\u003c/PRED\u003e","video":"533587359671321618.mp4"}
+{"uid":"12588936307264535463","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":"3882679830520728501.mp4"}
+{"uid":"7306553381991808462","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pink sugar packets in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place brown sugar packet in the organizer 2- drop candy into organizer 3- place brown sugar packet in the organizer 4- put the green packet in the tray 5- place green sugar packet in the organizer 6- place pink sugar packet in the organizer 7- place pink sugar packet in the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- place pink sugar packets in the organizer 2- place white sugar packet in the organizer 3- drop candy into organizer 4- place white sugar packet in the organizer 5- drop candy into organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place brown sugar packet in the organizer 2- drop candy into organizer 3- place brown sugar packet in the organizer 4- put the green packet in the tray 5- place green sugar packet in the organizer 6- place pink sugar packet in the organizer 7- place pink sugar packet in the organizer Q: immediate next step? \u003cPRED\u003eA: place pink sugar packets in the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pink sugar packets in the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace pink sugar packets in the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: place pink sugar packets in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pink sugar packets in the organizer\n\u003c/PRED\u003e","video":"5856045116527480493.mp4"}
+{"uid":"15234967710453420837","text":"\u003ctask:success:discrete:True\u003e\nPut the notebook in 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: Put the notebook in the drawer\n\u003c/PRED\u003e","video":"800323773006606643.mp4"}
+{"uid":"8033406046870965667","text":"\u003ctask:success:discrete:True\u003e\nplace brown sugar packet in the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place brown sugar packet in the organizer\n\u003c/PRED\u003e","video":"9969992829186593951.mp4"}
+{"uid":"1671982170742561669","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place brown sugar packet in the organizer 2- drop candy into organizer 3- place brown sugar packet in the organizer 4- put the green packet in the tray 5- place green sugar packet in the organizer 6- place pink sugar packet in the organizer 7- place pink sugar packet in the organizer 8- place pink sugar packets in the organizer 9- drop candy into organizer 10- place white sugar packet in the organizer 11- drop candy into organizer 12- place white sugar packet in the organizer 13- drop candy into organizer 14- put the white packet in the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the white packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place brown sugar packet in the organizer 2- drop candy into organizer 3- place brown sugar packet in the organizer 4- put the green packet in the tray 5- place green sugar packet in the organizer 6- place pink sugar packet in the organizer 7- place pink sugar packet in the organizer 8- place pink sugar packets in the organizer 9- drop candy into organizer 10- place white sugar packet in the organizer 11- drop candy into organizer 12- place white sugar packet in the organizer 13- drop candy into organizer 14- put the white packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the white packet in the tray\n\u003c/PRED\u003e","video":"1103727808859443553.mp4"}
+{"uid":"16510525673687281741","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place brown sugar packet in the organizer 2- drop candy into organizer 3- place brown sugar packet in the organizer 4- put the green packet in the tray 5- place green sugar packet in the organizer 6- place pink sugar packet in the organizer Q: immediate next step? \u003cPRED\u003eA: place pink sugar packet in the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place brown sugar packet in the organizer 2- drop candy into organizer 3- place brown sugar packet in the organizer 4- put the green packet in the tray 5- place green sugar packet in the organizer 6- place pink sugar packet in the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- place pink sugar packet in the organizer 2- place pink sugar packets in the organizer 3- drop candy into organizer 4- place white sugar packet in the organizer 5- drop candy into organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: place pink sugar packet in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pink sugar packet in the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pink sugar packet in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pink sugar packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9100862920899714820.mp4"}
+{"uid":"6211750310734755082","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the white packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place brown sugar packet in the organizer 2- drop candy into organizer 3- place brown sugar packet in the organizer 4- put the green packet in the tray 5- place green sugar packet in the organizer 6- place pink sugar packet in the organizer 7- place pink sugar packet in the organizer 8- place pink sugar packets in the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packet in the tray 2- place white sugar packet in the organizer 3- drop candy into organizer 4- place white sugar packet in the organizer 5- drop candy into organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put the white packet in 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\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the white packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place brown sugar packet in the organizer 2- drop candy into organizer 3- place brown sugar packet in the organizer 4- put the green packet in the tray 5- place green sugar packet in the organizer 6- place pink sugar packet in the organizer 7- place pink sugar packet in the organizer 8- place pink sugar packets in the organizer Q: immediate next step? \u003cPRED\u003eA: put the white packet in the tray\n\u003c/PRED\u003e","video":"2141649119021029374.mp4"}
+{"uid":"6724126096259354195","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Return the red notebook and the black marker to the file cabinet, then lock the cabinet Q: immediate next step? \u003cPRED\u003eA: Put the keys on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the keys on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the keys on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\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 keys on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Return the red notebook and the black marker to the file cabinet, then lock the cabinet. last 20 steps: 1- Open the drawer 2- Put the notebook in the drawer 3- Move the tray backward 4- Put the marker in the tray 5- Close the drawer 6- Put the keys in the lock 7- Lock the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Put the keys on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the keys on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Return the red notebook and the black marker to the file cabinet, then lock the cabinet. last 20 steps: 1- Open the drawer 2- Put the notebook in the drawer 3- Move the tray backward 4- Put the marker in the tray 5- Close the drawer 6- Put the keys in the lock 7- Lock the drawer Q: immediate next step? \u003cPRED\u003eA: Put the keys on the table\n\u003c/PRED\u003e","video":"9355916325172663122.mp4"}
+{"uid":"1010289428991550084","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop candy into organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place brown sugar packet in the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- drop candy into organizer 2- put the green packet in the tray 3- place green sugar packet in the organizer 4- place pink sugar packet in the organizer 5- place pink sugar packet in the organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place brown sugar packet in the organizer Q: immediate next step? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop candy into organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e","video":"11768741879362793349.mp4"}
+{"uid":"259162117946610409","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace 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":"8466801625412433666.mp4"}
+{"uid":"6079439863886113448","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place brown sugar packet in the organizer 2- drop candy into organizer 3- place brown sugar packet in the organizer Q: immediate next step? \u003cPRED\u003eA: put the green packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the green packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put the green packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the green packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place brown sugar packet in the organizer 2- drop candy into organizer 3- place brown sugar packet in the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the green packet in the tray 2- place green sugar packet in the organizer 3- place pink sugar packet in the organizer 4- place pink sugar packet in the organizer 5- place pink sugar packets in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the green packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the green packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12451581098554086692.mp4"}
+{"uid":"5508144987518164720","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place brown sugar packet in the organizer 2- drop candy into organizer 3- place brown sugar packet in the organizer 4- put the green packet in the tray 5- place green sugar packet in the organizer 6- place pink sugar packet in the organizer 7- place pink sugar packet in the organizer 8- place pink sugar packets in the organizer 9- drop candy into organizer Q: next 5 steps? \u003cPRED\u003eA: 1- drop candy into organizer 2- drop candy into organizer 3- place sugar packet in the organizer 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place brown sugar packet in the organizer 2- drop candy into organizer 3- place brown sugar packet in the organizer 4- put the green packet in the tray 5- place green sugar packet in the organizer 6- place pink sugar packet in the organizer 7- place pink sugar packet in the organizer 8- place pink sugar packets in the organizer 9- drop candy into organizer Q: immediate next step? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop candy into organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop candy into organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e","video":"13271020827593385724.mp4"}
+{"uid":"7408331281046483238","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the brown sugar packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the brown sugar packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1727628164100844750.mp4"}
+{"uid":"17555455954571508226","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the can from the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"493934152059764311.mp4"}
+{"uid":"3388281256769250216","text":"\u003ctask:success:discrete:False\u003e\nplace sugar packet in the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place sugar packet in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place sugar packet in the organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: place sugar packet in the organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place brown sugar packet in the organizer 2- drop candy into organizer 3- place brown sugar packet in the organizer 4- put the green packet in the tray 5- place green sugar packet in the organizer 6- place pink sugar packet in the organizer 7- place pink sugar packet in the organizer 8- place pink sugar packets in the organizer 9- drop candy into organizer 10- place white sugar packet in the organizer 11- drop candy into organizer 12- place white sugar packet in the organizer Q: immediate next step? \u003cPRED\u003eA: place sugar packet in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace sugar packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place brown sugar packet in the organizer 2- drop candy into organizer 3- place brown sugar packet in the organizer 4- put the green packet in the tray 5- place green sugar packet in the organizer 6- place pink sugar packet in the organizer 7- place pink sugar packet in the organizer 8- place pink sugar packets in the organizer 9- drop candy into organizer 10- place white sugar packet in the organizer 11- drop candy into organizer 12- place white sugar packet in the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- place sugar packet in the organizer 2- place sugar packet in the organizer 3- done\n\u003c/PRED\u003e","video":"3773413064711800735.mp4"}
+{"uid":"12849729723427184756","text":"\u003ctask:success:discrete:False\u003e\nput the green packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place brown sugar packet in the organizer 2- drop candy into organizer 3- place brown sugar packet in the organizer 4- put the green packet in the tray Q: immediate next step? \u003cPRED\u003eA: put the green packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the green packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the green packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place brown sugar packet in the organizer 2- drop candy into organizer 3- place brown sugar packet in the organizer 4- put the green packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the green packet in the tray 2- place pink sugar packet in the organizer 3- place pink sugar packet in the organizer 4- place pink sugar packets in the organizer 5- drop candy into organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put the green packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the green packet in the tray\n\u003c/PRED\u003e","video":"10901418910262853070.mp4"}
+{"uid":"12912099235392561684","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace brown sugar packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: place brown sugar packet in the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place brown sugar packet in the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- place brown sugar packet in the organizer 2- put the green packet in the tray 3- place green sugar packet in the organizer 4- place pink sugar packet in the organizer 5- place pink sugar packet in the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace brown sugar packet in the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place brown sugar packet in the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place brown sugar packet in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place brown sugar packet in the organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place brown sugar packet in the organizer Q: immediate next step? \u003cPRED\u003eA: place brown sugar packet in the organizer\n\u003c/PRED\u003e","video":"9792905087595039205.mp4"}
+{"uid":"18383796898428470865","text":"\u003ctask:success:discrete:True\u003e\ndrop candy into organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e","video":"12556462113936739469.mp4"}
+{"uid":"1662593616478897051","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place brown sugar packet in the organizer 2- drop candy into organizer 3- place brown sugar packet in the organizer 4- put the green packet in the tray 5- place green sugar packet in the organizer 6- place pink sugar packet in the organizer 7- place pink sugar packet in the organizer 8- place pink sugar packets in the organizer 9- drop candy into organizer 10- place white sugar packet in the organizer 11- drop candy into organizer Q: immediate next step? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop candy into organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop candy into organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place brown sugar packet in the organizer 2- drop candy into organizer 3- place brown sugar packet in the organizer 4- put the green packet in the tray 5- place green sugar packet in the organizer 6- place pink sugar packet in the organizer 7- place pink sugar packet in the organizer 8- place pink sugar packets in the organizer 9- drop candy into organizer 10- place white sugar packet in the organizer 11- drop candy into organizer Q: next 5 steps? \u003cPRED\u003eA: 1- drop candy into organizer 2- place sugar packet in the organizer 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e","video":"1836583496145811071.mp4"}
+{"uid":"13057998325833581799","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":"1334428495740253050.mp4"}
+{"uid":"17919675553032202893","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":"6061995597966586702.mp4"}
+{"uid":"8746243565073952208","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move the tray backward\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Return the red notebook and the black marker to the file cabinet, then lock the cabinet. last 20 steps: 1- Open the drawer 2- Put the notebook in the drawer Q: immediate next step? \u003cPRED\u003eA: Move the tray backward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove the tray backward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove the tray backward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move the tray backward\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Return the red notebook and the black marker to the file cabinet, then lock the cabinet. last 20 steps: 1- Open the drawer 2- Put the notebook in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Move the tray backward 2- Put the marker in the tray 3- Close the drawer 4- Put the keys in the lock 5- Lock the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Return the red notebook and the black marker to the file cabinet, then lock the cabinet Q: immediate next step? \u003cPRED\u003eA: Move the tray backward\n\u003c/PRED\u003e","video":"15477495547369070928.mp4"}
+{"uid":"2840276833486428473","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13469458632705944257.mp4"}
+{"uid":"9064297927246039301","text":"\u003ctask:success:discrete:True\u003e\nput the white packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the white packet in the tray\n\u003c/PRED\u003e","video":"1387371420505879990.mp4"}
+{"uid":"11181053704668998460","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place white sugar packet in the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place white sugar packet in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace white sugar packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: place white sugar packet in the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place brown sugar packet in the organizer 2- drop candy into organizer 3- place brown sugar packet in the organizer 4- put the green packet in the tray 5- place green sugar packet in the organizer 6- place pink sugar packet in the organizer 7- place pink sugar packet in the organizer 8- place pink sugar packets in the organizer 9- drop candy into organizer 10- place white sugar packet in the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- place white sugar packet in the organizer 2- place white sugar packet in the organizer 3- drop candy into organizer 4- place sugar packet in the organizer 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place brown sugar packet in the organizer 2- drop candy into organizer 3- place brown sugar packet in the organizer 4- put the green packet in the tray 5- place green sugar packet in the organizer 6- place pink sugar packet in the organizer 7- place pink sugar packet in the organizer 8- place pink sugar packets in the organizer 9- drop candy into organizer 10- place white sugar packet in the organizer Q: immediate next step? \u003cPRED\u003eA: place white sugar packet in the organizer\n\u003c/PRED\u003e","video":"2202110876907210349.mp4"}
+{"uid":"17318567072009726964","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the 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":"11008731113090192449.mp4"}
+{"uid":"2520265253349492696","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick 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":"821336311829585916.mp4"}
+{"uid":"15761874568474291574","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place white sugar packet in the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place white sugar packet in the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place brown sugar packet in the organizer 2- drop candy into organizer 3- place brown sugar packet in the organizer 4- put the green packet in the tray 5- place green sugar packet in the organizer 6- place pink sugar packet in the organizer 7- place pink sugar packet in the organizer 8- place pink sugar packets in the organizer 9- drop candy into organizer Q: next 5 steps? \u003cPRED\u003eA: 1- place white sugar packet in the organizer 2- place white sugar packet in the organizer 3- drop candy into organizer 4- place sugar packet in the organizer 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: place white sugar packet in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace white sugar packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place brown sugar packet in the organizer 2- drop candy into organizer 3- place brown sugar packet in the organizer 4- put the green packet in the tray 5- place green sugar packet in the organizer 6- place pink sugar packet in the organizer 7- place pink sugar packet in the organizer 8- place pink sugar packets in the organizer 9- drop candy into organizer Q: immediate next step? \u003cPRED\u003eA: place white sugar packet in the organizer\n\u003c/PRED\u003e","video":"13330040349874198496.mp4"}
+{"uid":"7747411615767493848","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the white packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place brown sugar packet in the organizer 2- drop candy into organizer 3- place brown sugar packet in the organizer 4- put the green packet in the tray 5- place green sugar packet in the organizer 6- place pink sugar packet in the organizer 7- place pink sugar packet in the organizer 8- place pink sugar packets in the organizer 9- drop candy into organizer 10- place white sugar packet in the organizer 11- drop candy into organizer Q: immediate next step? \u003cPRED\u003eA: put the white packet in 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\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the white packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place brown sugar packet in the organizer 2- drop candy into organizer 3- place brown sugar packet in the organizer 4- put the green packet in the tray 5- place green sugar packet in the organizer 6- place pink sugar packet in the organizer 7- place pink sugar packet in the organizer 8- place pink sugar packets in the organizer 9- drop candy into organizer 10- place white sugar packet in the organizer 11- drop candy into organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packet in the tray 2- drop candy into organizer 3- place sugar packet in the organizer 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put the white packet in the tray\n\u003c/PRED\u003e","video":"1408245737323297900.mp4"}
+{"uid":"7369766611878563254","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the orange in the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18381045869409733236.mp4"}
+{"uid":"15132637484614819715","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the brown sugar 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 the brown sugar packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the brown sugar packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put the brown sugar packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place brown sugar packet in the organizer 2- drop candy into organizer Q: immediate next step? \u003cPRED\u003eA: put the brown sugar packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place brown sugar packet in the organizer 2- drop candy into organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the brown sugar packet in the tray 2- put the green packet in the tray 3- place green sugar packet in the organizer 4- place pink sugar packet in the organizer 5- place pink sugar packet in the organizer\n\u003c/PRED\u003e","video":"9012915630589111313.mp4"}
+{"uid":"6860498491639890420","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place brown sugar packet in the organizer 2- drop candy into organizer 3- place brown sugar packet in the organizer 4- put the green packet in the tray 5- place green sugar packet in the organizer 6- place pink sugar packet in the organizer Q: immediate next step? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop candy into organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place brown sugar packet in the organizer 2- drop candy into organizer 3- place brown sugar packet in the organizer 4- put the green packet in the tray 5- place green sugar packet in the organizer 6- place pink sugar packet in the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- drop candy into organizer 2- place pink sugar packets in the organizer 3- drop candy into organizer 4- place white sugar packet in the organizer 5- drop candy into organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop candy into organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e","video":"698030836432270697.mp4"}
+{"uid":"849849584264993374","text":"\u003ctask:success:discrete:False\u003e\ndrop candy into organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place brown sugar packet in the organizer 2- drop candy into organizer 3- place brown sugar packet in the organizer 4- put the green packet in the tray 5- place green sugar packet in the organizer 6- place pink sugar packet in the organizer 7- place pink sugar packet in the organizer 8- place pink sugar packets in the organizer 9- drop candy into organizer 10- place white sugar packet in the organizer 11- drop candy into organizer 12- place white sugar packet in the organizer 13- drop candy into organizer Q: immediate next step? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop candy into organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place brown sugar packet in the organizer 2- drop candy into organizer 3- place brown sugar packet in the organizer 4- put the green packet in the tray 5- place green sugar packet in the organizer 6- place pink sugar packet in the organizer 7- place pink sugar packet in the organizer 8- place pink sugar packets in the organizer 9- drop candy into organizer 10- place white sugar packet in the organizer 11- drop candy into organizer 12- place white sugar packet in the organizer 13- drop candy into organizer Q: next 5 steps? \u003cPRED\u003eA: 1- drop candy into organizer 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e","video":"12017499986409203345.mp4"}
+{"uid":"17149806917397080267","text":"\u003ctask:success:discrete:False\u003e\nLock 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\nLock 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: Lock the drawer\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the keys in the lock\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Return the red notebook and the black marker to the file cabinet, then lock the cabinet. last 20 steps: 1- Open the drawer 2- Put the notebook in the drawer 3- Move the tray backward 4- Put the marker in the tray 5- Close the drawer 6- Put the keys in the lock Q: next 5 steps? \u003cPRED\u003eA: 1- Lock the drawer 2- Put the keys on the table 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the keys in the lock Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Return the red notebook and the black marker to the file cabinet, then lock the cabinet. last 20 steps: 1- Open the drawer 2- Put the notebook in the drawer 3- Move the tray backward 4- Put the marker in the tray 5- Close the drawer 6- Put the keys in the lock Q: immediate next step? \u003cPRED\u003eA: Lock the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Lock the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Return the red notebook and the black marker to the file cabinet, then lock the cabinet Q: immediate next step? \u003cPRED\u003eA: Lock the drawer\n\u003c/PRED\u003e","video":"9942252914595188582.mp4"}
+{"uid":"6099143575249797152","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place brown sugar packet in the organizer 2- drop candy into organizer 3- place brown sugar packet in the organizer 4- put the green packet in the tray 5- place green sugar packet in the organizer 6- place pink sugar packet in the organizer Q: immediate next step? \u003cPRED\u003eA: put the pink packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pink packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place brown sugar packet in the organizer 2- drop candy into organizer 3- place brown sugar packet in the organizer 4- put the green packet in the tray 5- place green sugar packet in the organizer 6- place pink sugar packet in the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the pink packet in the tray 2- place pink sugar packets in the organizer 3- drop candy into organizer 4- place white sugar packet in the organizer 5- drop candy into organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pink packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pink packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pink packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put the pink packet in the tray\n\u003c/PRED\u003e","video":"4017529909283220281.mp4"}
+{"uid":"775641716999928756","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white packet in the tray\n\u003c/PRED\u003e\u003ctask: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: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place brown sugar packet in the organizer 2- drop candy into organizer 3- place brown sugar packet in the organizer 4- put the green packet in the tray 5- place green sugar packet in the organizer 6- place pink sugar packet in the organizer 7- place pink sugar packet in the organizer 8- place pink sugar packets in the organizer 9- drop candy into organizer 10- place white sugar packet in the organizer Q: immediate next step? \u003cPRED\u003eA: put white packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put white packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place brown sugar packet in the organizer 2- drop candy into organizer 3- place brown sugar packet in the organizer 4- put the green packet in the tray 5- place green sugar packet in the organizer 6- place pink sugar packet in the organizer 7- place pink sugar packet in the organizer 8- place pink sugar packets in the organizer 9- drop candy into organizer 10- place white sugar packet in the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put white packet in the tray 2- drop candy into organizer 3- place sugar packet in the organizer 4- 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","video":"14349390110794196866.mp4"}
+{"uid":"9188039250468940204","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput can in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8651463880995941966.mp4"}
+{"uid":"13740823634308348066","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white packet in the glass vessel Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5853709002983119634.mp4"}
+{"uid":"1714124187591832437","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nwrite on a 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":"18335912023717900970.mp4"}
+{"uid":"2939278117136878594","text":"\u003ctask:success:discrete:True\u003e\nplace brown sugar packet in the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place brown sugar packet in the organizer\n\u003c/PRED\u003e","video":"869413521403140891.mp4"}
+{"uid":"7098094053386234701","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop candy into organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace sugar packet in the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place sugar packet in the organizer\n\u003c/PRED\u003e","video":"826325549391777378.mp4"}
+{"uid":"4400837678311100524","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9300363340605381549.mp4"}
+{"uid":"7200534059805454735","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: place sugar packet in the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place brown sugar packet in the organizer 2- drop candy into organizer 3- place brown sugar packet in the organizer 4- put the green packet in the tray 5- place green sugar packet in the organizer 6- place pink sugar packet in the organizer 7- place pink sugar packet in the organizer 8- place pink sugar packets in the organizer 9- drop candy into organizer 10- place white sugar packet in the organizer 11- drop candy into organizer 12- place white sugar packet in the organizer 13- drop candy into organizer Q: next 5 steps? \u003cPRED\u003eA: 1- place sugar packet in the organizer 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace sugar packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place sugar packet in the organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place brown sugar packet in the organizer 2- drop candy into organizer 3- place brown sugar packet in the organizer 4- put the green packet in the tray 5- place green sugar packet in the organizer 6- place pink sugar packet in the organizer 7- place pink sugar packet in the organizer 8- place pink sugar packets in the organizer 9- drop candy into organizer 10- place white sugar packet in the organizer 11- drop candy into organizer 12- place white sugar packet in the organizer 13- drop candy into organizer Q: immediate next step? \u003cPRED\u003eA: place sugar packet in the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace sugar packet in the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place sugar packet in the organizer\n\u003c/PRED\u003e","video":"10863474117856955150.mp4"}
+{"uid":"9333735835034495602","text":"\u003ctask:success:discrete:False\u003e\nPut the notebook in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Return the red notebook and the black marker to the file cabinet, then lock the cabinet. last 20 steps: 1- Open the drawer Q: immediate next step? \u003cPRED\u003eA: Put the notebook in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Return the red notebook and the black marker to the file cabinet, then lock the cabinet. last 20 steps: 1- Open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Put the notebook in the drawer 2- Move the tray backward 3- Put the marker in the tray 4- Close the drawer 5- Put the keys in the lock\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Return the red notebook and the black marker to the file cabinet, then lock the cabinet Q: immediate next step? \u003cPRED\u003eA: Put the notebook in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the notebook in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the notebook in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the notebook in the drawer\n\u003c/PRED\u003e","video":"11714431837800430683.mp4"}
+{"uid":"15539221460082125352","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":"6670526851362232049.mp4"}
+{"uid":"8469879391569038826","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the sponge 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":"17607560705639816841.mp4"}
+{"uid":"5340609371419796324","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":"4048341203328506788.mp4"}
+{"uid":"13199262761370426108","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pink packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place brown sugar packet in the organizer 2- drop candy into organizer 3- place brown sugar packet in the organizer 4- put the green packet in the tray 5- place green sugar packet in the organizer Q: immediate next step? \u003cPRED\u003eA: put the pink packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put the pink packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pink packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place brown sugar packet in the organizer 2- drop candy into organizer 3- place brown sugar packet in the organizer 4- put the green packet in the tray 5- place green sugar packet in the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the pink packet in the tray 2- place pink sugar packet in the organizer 3- place pink sugar packets in the organizer 4- drop candy into organizer 5- place white sugar packet in the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pink packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pink packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6046395674304400605.mp4"}
+{"uid":"1327975331129193657","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the brown sugar packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put the brown sugar 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 brown sugar packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the brown sugar packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the brown sugar 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 sugar packets in the correct sections of the clear plastic tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the brown sugar packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the brown sugar packet in the tray 2- place brown sugar packet in the organizer 3- put the green packet in the tray 4- place green sugar packet in the organizer 5- place pink sugar packet in the organizer\n\u003c/PRED\u003e","video":"13688906188711185396.mp4"}
+{"uid":"5728917024649245589","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove the pen close to 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":"4337498728783877702.mp4"}
+{"uid":"15060516066399276468","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the brown sugar 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 brown sugar 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 brown sugar packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place brown sugar packet in the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the brown sugar packet in the tray 2- put the green packet in the tray 3- place green sugar packet in the organizer 4- place pink sugar packet in the organizer 5- place pink sugar packet in the organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put the brown sugar packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place brown sugar packet in the organizer Q: immediate next step? \u003cPRED\u003eA: put the brown sugar packet in the tray\n\u003c/PRED\u003e","video":"6125218012620622165.mp4"}
+{"uid":"9638176099101618953","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the toy in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16257151443994627178.mp4"}
+{"uid":"2505822821530305197","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: place brown sugar packet in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place brown sugar packet in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace brown sugar packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place brown sugar packet in the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace brown sugar packet in the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place brown sugar packet in the organizer 2- drop candy into organizer 3- place brown sugar packet in the organizer 4- put the green packet in the tray 5- place green sugar packet in the organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place brown sugar packet in the organizer\n\u003c/PRED\u003e","video":"16891580608307628142.mp4"}
+{"uid":"11973697024541759597","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place pink sugar packet in the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace pink sugar packet in the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6603091380449008688.mp4"}
+{"uid":"12468060419797208779","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Return the red notebook and the black marker to the file cabinet, then lock the cabinet. last 20 steps: 1- Open the drawer 2- Put the notebook in the drawer 3- Move the tray backward 4- Put the marker in the tray 5- Close the drawer 6- Put the keys in the lock 7- Lock the drawer 8- Put the keys 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: Put the keys on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Return the red notebook and the black marker to the file cabinet, then lock the cabinet. last 20 steps: 1- Open the drawer 2- Put the notebook in the drawer 3- Move the tray backward 4- Put the marker in the tray 5- Close the drawer 6- Put the keys in the lock 7- Lock the drawer 8- Put the keys on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Return the red notebook and the black marker to the file cabinet, then lock the cabinet Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the keys 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":"5623909163320940748.mp4"}
+{"uid":"8873340583845323281","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop candy into organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place brown sugar packet in the organizer 2- drop candy into organizer 3- place brown sugar packet in the organizer 4- put the green packet in the tray 5- place green sugar packet in the organizer 6- place pink sugar packet in the organizer 7- place pink sugar packet in the organizer 8- place pink sugar packets in the organizer 9- drop candy into organizer 10- place white sugar packet in the organizer 11- drop candy into organizer 12- place white sugar packet in the organizer 13- drop candy into organizer 14- drop candy into organizer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place brown sugar packet in the organizer 2- drop candy into organizer 3- place brown sugar packet in the organizer 4- put the green packet in the tray 5- place green sugar packet in the organizer 6- place pink sugar packet in the organizer 7- place pink sugar packet in the organizer 8- place pink sugar packets in the organizer 9- drop candy into organizer 10- place white sugar packet in the organizer 11- drop candy into organizer 12- place white sugar packet in the organizer 13- drop candy into organizer 14- drop candy into organizer Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"10229919849156846256.mp4"}
+{"uid":"6771893933358276206","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\narrange the packet in the bucket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2504499411919413908.mp4"}
+{"uid":"5267327564440375831","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":"10421064559366287796.mp4"}
+{"uid":"9121898310196638111","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":"14695036190180995685.mp4"}
+{"uid":"5871385476033201134","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the black object in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2384319123187617377.mp4"}
+{"uid":"17211344891621720799","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15245849476177596516.mp4"}
+{"uid":"5053653058030440881","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop arm candy into organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop arm candy into organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12177007360005973016.mp4"}
+{"uid":"4006221088433846489","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place brown sugar packet in the organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place brown sugar packet in the organizer Q: immediate next step? \u003cPRED\u003eA: place brown sugar packet in the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place brown sugar packet in the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- place brown sugar packet in the organizer 2- place brown sugar packet in the organizer 3- put the green packet in the tray 4- place green sugar packet in the organizer 5- place pink sugar packet in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace brown sugar packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: place brown sugar packet in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place brown sugar packet in the organizer\n\u003c/PRED\u003e","video":"1285066942032200543.mp4"}
+{"uid":"11593480217568751021","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the marker in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the marker in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the marker in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Return the red notebook and the black marker to the file cabinet, then lock the cabinet. last 20 steps: 1- Open the drawer 2- Put the notebook in the drawer 3- Move the tray backward Q: next 5 steps? \u003cPRED\u003eA: 1- Put the marker in the tray 2- Close the drawer 3- Put the keys in the lock 4- Lock the drawer 5- Put the keys on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Return the red notebook and the black marker to the file cabinet, then lock the cabinet Q: immediate next step? \u003cPRED\u003eA: Put the marker in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the marker in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Return the red notebook and the black marker to the file cabinet, then lock the cabinet. last 20 steps: 1- Open the drawer 2- Put the notebook in the drawer 3- Move the tray backward Q: immediate next step? \u003cPRED\u003eA: Put the marker in the tray\n\u003c/PRED\u003e","video":"11294706995991312264.mp4"}
+{"uid":"11847207438143675097","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place white sugar packet in the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace white sugar packet in the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11374475805559042039.mp4"}
+{"uid":"4601137492876958615","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop candy into organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12962630219217805525.mp4"}
+{"uid":"2734200662363054565","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pink sugar packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace pink sugar packet in the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place brown sugar packet in the organizer 2- drop candy into organizer 3- place brown sugar packet in the organizer 4- put the green packet in the tray 5- place green sugar packet in the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- place pink sugar packet in the organizer 2- place pink sugar packet in the organizer 3- place pink sugar packets in the organizer 4- drop candy into organizer 5- place white sugar packet in the organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: place pink sugar packet in the organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place brown sugar packet in the organizer 2- drop candy into organizer 3- place brown sugar packet in the organizer 4- put the green packet in the tray 5- place green sugar packet in the organizer Q: immediate next step? \u003cPRED\u003eA: place pink sugar packet in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pink sugar packet in the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pink sugar packet in the organizer\n\u003c/PRED\u003e","video":"5743792059408153509.mp4"}
+{"uid":"17493896046375065677","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop 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":"2208859469852478832.mp4"}
+{"uid":"7325954931100263110","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the green packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the green packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16673114808683692753.mp4"}
+{"uid":"3611661807236611532","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the plastic forks 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":"8168030892642976145.mp4"}
+{"uid":"5382757803427142213","text":"\u003ctask:success:discrete:True\u003e\nplace pink sugar packets in the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place pink sugar packets in the organizer\n\u003c/PRED\u003e","video":"15204345234942161367.mp4"}
+{"uid":"1550047633031035843","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the box 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":"414690947275034521.mp4"}
+{"uid":"15626061907077308178","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":"13251246841644382284.mp4"}
+{"uid":"18329868013371041798","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":"3946959467251199024.mp4"}
+{"uid":"3959030512225855384","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the sticky notes on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5313816610660950655.mp4"}
+{"uid":"4843803262886132327","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"18208924672502341748.mp4"}
+{"uid":"8908571727943448106","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop candy into organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8556366674805024229.mp4"}
+{"uid":"14954761933926845881","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachio in glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7047551107386046775.mp4"}
+{"uid":"749402061819224215","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the apple in the plate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2389252291811971171.mp4"}
+{"uid":"15617012281422196926","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \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: Return the red notebook and the black marker to the file cabinet, then lock the cabinet. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Open the drawer 2- Put the notebook in the drawer 3- Move the tray backward 4- Put the marker in the tray 5- Close the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Return the red notebook and the black marker to the file cabinet, then lock the cabinet Q: immediate next step? \u003cPRED\u003eA: Open the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Return the red notebook and the black marker to the file cabinet, then lock the cabinet. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Open the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nOpen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\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":"10596001195973477010.mp4"}
+{"uid":"6843777853347725477","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the white packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place brown sugar packet in the organizer 2- drop candy into organizer 3- place brown sugar packet in the organizer 4- put the green packet in the tray 5- place green sugar packet in the organizer 6- place pink sugar packet in the organizer 7- place pink sugar packet in the organizer 8- place pink sugar packets in the organizer 9- drop candy into organizer 10- place white sugar packet in the organizer 11- drop candy into organizer 12- place white sugar packet in the organizer 13- drop candy into organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packet in the tray 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put the white packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place brown sugar packet in the organizer 2- drop candy into organizer 3- place brown sugar packet in the organizer 4- put the green packet in the tray 5- place green sugar packet in the organizer 6- place pink sugar packet in the organizer 7- place pink sugar packet in the organizer 8- place pink sugar packets in the organizer 9- drop candy into organizer 10- place white sugar packet in the organizer 11- drop candy into organizer 12- place white sugar packet in the organizer 13- drop candy into organizer Q: immediate next step? \u003cPRED\u003eA: put the white packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the white packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7489349635664842422.mp4"}
+{"uid":"7548514975525298261","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place brown sugar packet in the organizer 2- drop candy into organizer 3- place brown sugar packet in the organizer 4- put the green packet in the tray 5- place green sugar packet in the organizer 6- place pink sugar packet in the organizer 7- place pink sugar packet in the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put pink packets in the tray 2- drop candy into organizer 3- place white sugar packet in the organizer 4- drop candy into organizer 5- place white sugar packet in the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput pink packets in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pink packets in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put pink packets in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pink packets in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place brown sugar packet in the organizer 2- drop candy into organizer 3- place brown sugar packet in the organizer 4- put the green packet in the tray 5- place green sugar packet in the organizer 6- place pink sugar packet in the organizer 7- place pink sugar packet in the organizer Q: immediate next step? \u003cPRED\u003eA: put pink packets in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pink packets in the tray\n\u003c/PRED\u003e","video":"4817861248977820070.mp4"}
+{"uid":"3575969585702262899","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop candy into organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place brown sugar packet in the organizer 2- drop candy into organizer 3- place brown sugar packet in the organizer 4- put the green packet in the tray 5- place green sugar packet in the organizer 6- place pink sugar packet in the organizer 7- place pink sugar packet in the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- drop candy into organizer 2- place white sugar packet in the organizer 3- drop candy into organizer 4- place white sugar packet in the organizer 5- drop candy into organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop candy into organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place brown sugar packet in the organizer 2- drop candy into organizer 3- place brown sugar packet in the organizer 4- put the green packet in the tray 5- place green sugar packet in the organizer 6- place pink sugar packet in the organizer 7- place pink sugar packet in the organizer Q: immediate next step? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e","video":"6874990882955437007.mp4"}
+{"uid":"12769948046978074267","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place brown sugar packet in the organizer 2- drop candy into organizer 3- place brown sugar packet in the organizer 4- put the green packet in the tray Q: immediate next step? \u003cPRED\u003eA: place green sugar packet in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place green sugar packet in the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place green sugar packet in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace green sugar packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace green sugar packet in the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: place green sugar packet in the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place brown sugar packet in the organizer 2- drop candy into organizer 3- place brown sugar packet in the organizer 4- put the green packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place green sugar packet in the organizer 2- place pink sugar packet in the organizer 3- place pink sugar packet in the organizer 4- place pink sugar packets in the organizer 5- drop candy into organizer\n\u003c/PRED\u003e","video":"18423306454138746100.mp4"}
+{"uid":"5286062903537148904","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":"4559273116479847199.mp4"}
+{"uid":"2405399772139650330","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":"13043570310311296140.mp4"}
+{"uid":"4491149789007658579","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place brown sugar packet in the organizer 2- drop candy into organizer 3- place brown sugar packet in the organizer 4- put the green packet in the tray 5- place green sugar packet in the organizer 6- place pink sugar packet in the organizer 7- place pink sugar packet in the organizer 8- place pink sugar packets in the organizer 9- drop candy into organizer 10- place white sugar packet in the organizer Q: immediate next step? \u003cPRED\u003eA: place white sugar packet in the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place brown sugar packet in the organizer 2- drop candy into organizer 3- place brown sugar packet in the organizer 4- put the green packet in the tray 5- place green sugar packet in the organizer 6- place pink sugar packet in the organizer 7- place pink sugar packet in the organizer 8- place pink sugar packets in the organizer 9- drop candy into organizer 10- place white sugar packet in the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- place white sugar packet in the organizer 2- place sugar packet in the organizer 3- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place white sugar packet in the organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: place white sugar packet in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place white sugar packet in the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place white sugar packet in the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace white sugar packet in the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace white sugar packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2849549212085639954.mp4"}
+{"uid":"15056773634025035954","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put the 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 white packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place brown sugar packet in the organizer 2- drop candy into organizer 3- place brown sugar packet in the organizer 4- put the green packet in the tray 5- place green sugar packet in the organizer 6- place pink sugar packet in the organizer 7- place pink sugar packet in the organizer 8- place pink sugar packets in the organizer 9- drop candy into organizer 10- place white sugar packet in the organizer 11- drop candy into organizer 12- place white sugar packet in the organizer Q: immediate next step? \u003cPRED\u003eA: put the white packet in 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\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place brown sugar packet in the organizer 2- drop candy into organizer 3- place brown sugar packet in the organizer 4- put the green packet in the tray 5- place green sugar packet in the organizer 6- place pink sugar packet in the organizer 7- place pink sugar packet in the organizer 8- place pink sugar packets in the organizer 9- drop candy into organizer 10- place white sugar packet in the organizer 11- drop candy into organizer 12- place white sugar packet in the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packet in the tray 2- place sugar packet in the organizer 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14183772233972298350.mp4"}
+{"uid":"2950743932719429121","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place brown sugar packet in the organizer 2- drop candy into organizer 3- place brown sugar packet in the organizer 4- put the green packet in the tray 5- place green sugar packet in the organizer 6- place pink sugar packet in the organizer 7- place pink sugar packet in the organizer 8- place pink sugar packets in the organizer 9- drop candy into organizer Q: immediate next step? \u003cPRED\u003eA: put white packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput white packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place brown sugar packet in the organizer 2- drop candy into organizer 3- place brown sugar packet in the organizer 4- put the green packet in the tray 5- place green sugar packet in the organizer 6- place pink sugar packet in the organizer 7- place pink sugar packet in the organizer 8- place pink sugar packets in the organizer 9- drop candy into organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put white packet in the tray 2- drop candy into organizer 3- place white sugar packet in the organizer 4- drop candy into organizer 5- place sugar packet in the organizer\n\u003c/PRED\u003e","video":"12009230794783473713.mp4"}
+{"uid":"17379760072578541039","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place white sugar packet in the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace white sugar packet in the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4047590490992911980.mp4"}
+{"uid":"11712217903749140388","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove towards 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":"15098150021910939208.mp4"}
+{"uid":"16048756880167935836","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace sugar packet in the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place brown sugar packet in the organizer 2- drop candy into organizer 3- place brown sugar packet in the organizer 4- put the green packet in the tray 5- place green sugar packet in the organizer 6- place pink sugar packet in the organizer 7- place pink sugar packet in the organizer 8- place pink sugar packets in the organizer 9- drop candy into organizer 10- place white sugar packet in the organizer 11- drop candy into organizer 12- place white sugar packet in the organizer 13- drop candy into organizer 14- place sugar packet in the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place brown sugar packet in the organizer 2- drop candy into organizer 3- place brown sugar packet in the organizer 4- put the green packet in the tray 5- place green sugar packet in the organizer 6- place pink sugar packet in the organizer 7- place pink sugar packet in the organizer 8- place pink sugar packets in the organizer 9- drop candy into organizer 10- place white sugar packet in the organizer 11- drop candy into organizer 12- place white sugar packet in the organizer 13- drop candy into organizer 14- place sugar packet in the organizer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place sugar packet in the organizer\n\u003c/PRED\u003e","video":"5947974524178952466.mp4"}
+{"uid":"17633249712929054895","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput clip 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":"13809246733164395553.mp4"}
+{"uid":"8699626676260959617","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace 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":"11891651975693551428.mp4"}
+{"uid":"1748038320454174733","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":"14149922398933701805.mp4"}
+{"uid":"6883998244039084246","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put tape box in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput tape box in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the office supplies into the holder. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put tape box in the stand 2- put black box in the holder 3- put clip in the holder 4- put clip in stand 5- 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: none Q: immediate next step? \u003cPRED\u003eA: put tape box in the stand\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 box in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put tape box in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput tape box in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15174508127117903069.mp4"}
+{"uid":"14052683763652708985","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput clip in stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put clip in stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the office supplies into the holder. last 20 steps: 1- put invisible tape in the holder 2- put black box in the holder 3- put clip in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put clip in stand 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put clip in stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the office supplies into the holder. Q: immediate next step? \u003cPRED\u003eA: put clip in stand\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 invisible tape in the holder 2- put black box in the holder 3- put clip in the holder Q: immediate next step? \u003cPRED\u003eA: put clip in stand\n\u003c/PRED\u003e","video":"13725107174109855693.mp4"}
+{"uid":"15755904703390695508","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput black object in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the office supplies into the holder. last 20 steps: 1- put invisible tape in the holder Q: immediate next step? \u003cPRED\u003eA: put black object in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput black object in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the office supplies into the holder. last 20 steps: 1- put invisible tape in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put black object in the stand 2- put clip in the holder 3- put clip in stand 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: put black object in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put black object in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put black object in the stand\n\u003c/PRED\u003e","video":"4910559165608882054.mp4"}
+{"uid":"4833953113894313773","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":"14010672129328968408.mp4"}
+{"uid":"5635285303693295347","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white blue 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":"15233050611738451200.mp4"}
+{"uid":"6211071631234903429","text":"\u003ctask:success:discrete:True\u003e\nput the green cup on 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: put the green cup on the drawer\n\u003c/PRED\u003e","video":"13426102304607471008.mp4"}
+{"uid":"8753523506480454418","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":"3791654591343530191.mp4"}
+{"uid":"18397066980708377842","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the top drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nopen the top 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":"6943875555508618877.mp4"}
+{"uid":"12598664659777379280","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put black object in stand\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 invisible tape in the holder Q: immediate next step? \u003cPRED\u003eA: put black object in stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput black object 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:planning:freeform\u003e\ncurrent goal is: please place the office supplies into the holder. Q: immediate next step? \u003cPRED\u003eA: put black object in stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput black object 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the office supplies into the holder. last 20 steps: 1- put invisible tape in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put black object in stand 2- put clip in the holder 3- put clip in stand 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put black object in stand\n\u003c/PRED\u003e","video":"15144925636682296914.mp4"}
+{"uid":"5875774527206341451","text":"\u003ctask:success:discrete:True\u003e\nput invisible 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 invisible tape in the holder\n\u003c/PRED\u003e","video":"8580773189480905073.mp4"}
+{"uid":"5866873830290541231","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut red chocolate in a glass. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13460767127556417024.mp4"}
+{"uid":"11870000982109432287","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"4999378997891115193.mp4"}
+{"uid":"5963648110832295388","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":"14320902611406687032.mp4"}
+{"uid":"12582041780338722490","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the office supplies into the holder. Q: immediate next step? \u003cPRED\u003eA: put invisible tape in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput invisible 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put invisible tape 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- put invisible tape in the holder 2- put black box in the holder 3- put clip in the holder 4- put clip in stand 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput invisible 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put invisible tape 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 invisible tape in the holder\n\u003c/PRED\u003e","video":"4084938399060708528.mp4"}
+{"uid":"9837303728020637290","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":"13900551657232415544.mp4"}
+{"uid":"5060618987855682307","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pink cup on the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the colored plastic mugs away into the top drawer and make sure to sort them by color. last 20 steps: 1- open the top drawer 2- put the blue cup on the drawer 3- adjust the cup 4- put the pink cup on the drawer 5- put the green cup on the drawer 6- place the blue cup corner of the table 7- put the blue cup on the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put the pink cup on the drawer 2- put the green cup on the drawer 3- close the top drawer 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pink cup on the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pink cup on the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pink cup on the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the colored plastic mugs away into the top drawer and make sure to sort them by color Q: immediate next step? \u003cPRED\u003eA: put the pink cup on the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the colored plastic mugs away into the top drawer and make sure to sort them by color. last 20 steps: 1- open the top drawer 2- put the blue cup on the drawer 3- adjust the cup 4- put the pink cup on the drawer 5- put the green cup on the drawer 6- place the blue cup corner of the table 7- put the blue cup on the drawer Q: immediate next step? \u003cPRED\u003eA: put the pink cup on the drawer\n\u003c/PRED\u003e","video":"3116471589104403838.mp4"}
+{"uid":"664124281195229859","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the orange 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: please take out the items in each drawers . last 20 steps: 1- open the yellow drawer 2- put sphere shape object on the table 3- move sphere shape object forward 4- close the yellow drawer 5- stop the sphere shape object on the object 6- open the orange drawer 7- put reactangle shape object on the table Q: immediate next step? \u003cPRED\u003eA: close the orange drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please take out the items in each drawers Q: immediate next step? \u003cPRED\u003eA: close the orange drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the orange drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the orange drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the orange drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please take out the items in each drawers . last 20 steps: 1- open the yellow drawer 2- put sphere shape object on the table 3- move sphere shape object forward 4- close the yellow drawer 5- stop the sphere shape object on the object 6- open the orange drawer 7- put reactangle shape object on the table Q: next 5 steps? \u003cPRED\u003eA: 1- close the orange drawer 2- open the blue drawer 3- put square shape object on the table 4- close the blue drawer 5- done\n\u003c/PRED\u003e","video":"9072790718387721144.mp4"}
+{"uid":"30261551124375914","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the top drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the colored plastic mugs away into the top drawer and make sure to sort them by color. last 20 steps: 1- open the top drawer 2- put the blue cup on the drawer 3- adjust the cup 4- put the pink cup on the drawer 5- put the green cup on the drawer 6- place the blue cup corner of the table 7- put the blue cup on the drawer 8- put the pink cup on the drawer 9- put the green cup on the drawer Q: immediate next step? \u003cPRED\u003eA: close the top drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the top drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the colored plastic mugs away into the top drawer and make sure to sort them by color Q: immediate next step? \u003cPRED\u003eA: close the top drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose 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\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the colored plastic mugs away into the top drawer and make sure to sort them by color. last 20 steps: 1- open the top drawer 2- put the blue cup on the drawer 3- adjust the cup 4- put the pink cup on the drawer 5- put the green cup on the drawer 6- place the blue cup corner of the table 7- put the blue cup on the drawer 8- put the pink cup on the drawer 9- put the green cup on the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- close the top drawer 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose 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","video":"9387624289235658243.mp4"}
+{"uid":"6235567449844516003","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the choco 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":"15580191143434490108.mp4"}
+{"uid":"1629097681724906119","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":"10970318931563252882.mp4"}
+{"uid":"17245708988171855405","text":"\u003ctask:success:discrete:False\u003e\nput square shape object on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 take out the items in each drawers Q: immediate next step? \u003cPRED\u003eA: put square shape object on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put square shape object on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput square shape object on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please take out the items in each drawers . last 20 steps: 1- open the yellow drawer 2- put sphere shape object on the table 3- move sphere shape object forward 4- close the yellow drawer 5- stop the sphere shape object on the object 6- open the orange drawer 7- put reactangle shape object on the table 8- close the orange drawer 9- open the blue drawer Q: immediate next step? \u003cPRED\u003eA: put square shape object on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please take out the items in each drawers . last 20 steps: 1- open the yellow drawer 2- put sphere shape object on the table 3- move sphere shape object forward 4- close the yellow drawer 5- stop the sphere shape object on the object 6- open the orange drawer 7- put reactangle shape object on the table 8- close the orange drawer 9- open the blue drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put square shape object on the table 2- close the blue drawer 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put square shape object on the table\n\u003c/PRED\u003e","video":"4613706314977099813.mp4"}
+{"uid":"12613736985912867419","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move sphere shape object forward\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove sphere shape object 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please take out the items in each drawers . last 20 steps: 1- open the yellow drawer 2- put sphere shape object on the table Q: next 5 steps? \u003cPRED\u003eA: 1- move sphere shape object forward 2- close the yellow drawer 3- stop the sphere shape object on the object 4- open the orange drawer 5- put reactangle shape object on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move sphere shape object forward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove sphere shape object 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please take out the items in each drawers . last 20 steps: 1- open the yellow drawer 2- put sphere shape object on the table Q: immediate next step? \u003cPRED\u003eA: move sphere shape object forward\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please take out the items in each drawers Q: immediate next step? \u003cPRED\u003eA: move sphere shape object forward\n\u003c/PRED\u003e","video":"15017151641215079047.mp4"}
+{"uid":"9252780250690692853","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the mini brown box 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":"13857219093513233733.mp4"}
+{"uid":"16757054723353688147","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the office supplies into the holder. Q: immediate next step? \u003cPRED\u003eA: put green box in stand\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 green box in stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput green box 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put green box in stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put green box in stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput green box 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: please place the office supplies into the holder. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put green box in stand 2- put black box in the holder 3- put clip in the holder 4- put clip in stand 5- done\n\u003c/PRED\u003e","video":"9369266122915757568.mp4"}
+{"uid":"5744095390779871074","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack 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":"6691593006616070748.mp4"}
+{"uid":"576814858002398564","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclean the tab Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10298655712214222865.mp4"}
+{"uid":"10426397105236310633","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the green cup on the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the green cup on 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":"4864567514330957694.mp4"}
+{"uid":"13017755721721996439","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":"15727574818678324241.mp4"}
+{"uid":"12937880689665112035","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace glass 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":"6802713947115265550.mp4"}
+{"uid":"14974410362666731535","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput clip in stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the office supplies into the holder. last 20 steps: 1- put invisible tape in the holder 2- put black box in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put clip in stand 2- put clip in stand 3- 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 invisible tape in the holder 2- put black box in the holder Q: immediate next step? \u003cPRED\u003eA: put clip in stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put clip in stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the office supplies into the holder. Q: immediate next step? \u003cPRED\u003eA: put clip in stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put clip in stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput clip in stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4733490774078921198.mp4"}
+{"uid":"17810274031948694148","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14789315377782133727.mp4"}
+{"uid":"4078220934847019028","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the orange snack bag 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":"15071244035752200729.mp4"}
+{"uid":"14964305701733565315","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pink cup on the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the pink cup on 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":"6148243128660708126.mp4"}
+{"uid":"5038744463075736321","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue cup on the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the colored plastic mugs away into the top drawer and make sure to sort them by color. last 20 steps: 1- open the top drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue cup on the drawer 2- adjust the cup 3- put the pink cup on the drawer 4- put the green cup on the drawer 5- place the blue cup corner of the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the blue cup on 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: Put the colored plastic mugs away into the top drawer and make sure to sort them by color. last 20 steps: 1- open the top drawer Q: immediate next step? \u003cPRED\u003eA: put the blue cup on the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue cup on the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the colored plastic mugs away into the top drawer and make sure to sort them by color Q: immediate next step? \u003cPRED\u003eA: put the blue cup on the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue cup on 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":"11675759342482939904.mp4"}
+{"uid":"16246072156956649092","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput reactangle shape object on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put reactangle shape object on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please take out the items in each drawers Q: immediate next step? \u003cPRED\u003eA: put reactangle shape object on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please take out the items in each drawers . last 20 steps: 1- open the yellow drawer 2- put sphere shape object on the table 3- move sphere shape object forward 4- close the yellow drawer 5- stop the sphere shape object on the object 6- open the orange drawer Q: immediate next step? \u003cPRED\u003eA: put reactangle shape object on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put reactangle shape object on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput reactangle shape object on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please take out the items in each drawers . last 20 steps: 1- open the yellow drawer 2- put sphere shape object on the table 3- move sphere shape object forward 4- close the yellow drawer 5- stop the sphere shape object on the object 6- open the orange drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put reactangle shape object on the table 2- close the orange drawer 3- open the blue drawer 4- put square shape object on the table 5- close the blue drawer\n\u003c/PRED\u003e","video":"14233840539914773707.mp4"}
+{"uid":"4503322720946339712","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please take out the items in each drawers . last 20 steps: 1- open the yellow drawer 2- put sphere shape object on the table 3- move sphere shape object forward 4- close the yellow drawer 5- stop the sphere shape object on the object 6- open the orange drawer 7- put reactangle shape object on the table 8- close the orange drawer Q: immediate next step? \u003cPRED\u003eA: open the blue drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the blue 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: open the blue drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please take out the items in each drawers Q: immediate next step? \u003cPRED\u003eA: open the blue drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the blue drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please take out the items in each drawers . last 20 steps: 1- open the yellow drawer 2- put sphere shape object on the table 3- move sphere shape object forward 4- close the yellow drawer 5- stop the sphere shape object on the object 6- open the orange drawer 7- put reactangle shape object on the table 8- close the orange drawer Q: next 5 steps? \u003cPRED\u003eA: 1- open the blue drawer 2- put square shape object on the table 3- close the blue drawer 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the blue 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":"12882169625092920746.mp4"}
+{"uid":"13880135681801319301","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the colored plastic mugs away into the top drawer and make sure to sort them by color Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nclose the top drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the colored plastic mugs away into the top drawer and make sure to sort them by color. last 20 steps: 1- open the top drawer 2- put the blue cup on the drawer 3- adjust the cup 4- put the pink cup on the drawer 5- put the green cup on the drawer 6- place the blue cup corner of the table 7- put the blue cup on the drawer 8- put the pink cup on the drawer 9- put the green cup on the drawer 10- close the top drawer Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close the top drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the colored plastic mugs away into the top drawer and make sure to sort them by color. last 20 steps: 1- open the top drawer 2- put the blue cup on the drawer 3- adjust the cup 4- put the pink cup on the drawer 5- put the green cup on the drawer 6- place the blue cup corner of the table 7- put the blue cup on the drawer 8- put the pink cup on the drawer 9- put the green cup on the drawer 10- close the top drawer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"14926551029019639653.mp4"}
+{"uid":"17815617520500467668","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please take out the items in each drawers . last 20 steps: 1- open the yellow drawer 2- put sphere shape object on the table 3- move sphere shape object forward 4- close the yellow drawer Q: immediate next step? \u003cPRED\u003eA: stop the sphere shape object on the object\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please take out the items in each drawers . last 20 steps: 1- open the yellow drawer 2- put sphere shape object on the table 3- move sphere shape object forward 4- close the yellow drawer Q: next 5 steps? \u003cPRED\u003eA: 1- stop the sphere shape object on the object 2- open the orange drawer 3- put reactangle shape object on the table 4- close the orange drawer 5- open the blue drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstop the sphere shape object on the 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: stop the sphere shape object on the object\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstop the sphere shape object on the 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:planning:freeform\u003e\ncurrent goal is: please take out the items in each drawers Q: immediate next step? \u003cPRED\u003eA: stop the sphere shape object on the object\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stop the sphere shape object on the object\n\u003c/PRED\u003e","video":"15824386690141598333.mp4"}
+{"uid":"10323951636086565543","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove your arm close to the book Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"38873286283734284.mp4"}
+{"uid":"8476352595326031922","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the yellow drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the yellow drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the yellow drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please take out the items in each drawers . last 20 steps: 1- open the yellow drawer 2- put sphere shape object on the table 3- move sphere shape object forward Q: immediate next step? \u003cPRED\u003eA: close the yellow drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please take out the items in each drawers Q: immediate next step? \u003cPRED\u003eA: close the yellow drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please take out the items in each drawers . last 20 steps: 1- open the yellow drawer 2- put sphere shape object on the table 3- move sphere shape object forward Q: next 5 steps? \u003cPRED\u003eA: 1- close the yellow drawer 2- stop the sphere shape object on the object 3- open the orange drawer 4- put reactangle shape object on the table 5- close the orange drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the yellow drawer\n\u003c/PRED\u003e","video":"2296400287689712054.mp4"}
+{"uid":"1997702404359257674","text":"\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: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\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: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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the office supplies into the holder. last 20 steps: 1- put invisible tape in the holder Q: immediate next step? \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 invisible tape in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put black box in the holder 2- put clip in the holder 3- put clip in stand 4- done\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","video":"18048056957305314186.mp4"}
+{"uid":"17055446760815896114","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the office supplies into the holder. last 20 steps: 1- put invisible tape in the holder 2- put black box in the holder 3- put clip in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put paper clip in the stand 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput paper clip in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put paper clip in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the office supplies into the holder. last 20 steps: 1- put invisible tape in the holder 2- put black box in the holder 3- put clip in the holder Q: immediate next step? \u003cPRED\u003eA: put paper clip in the stand\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 paper clip in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput paper clip in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put paper clip in the stand\n\u003c/PRED\u003e","video":"14879816990772635059.mp4"}
+{"uid":"14459328809757110872","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue cup on the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the colored plastic mugs away into the top drawer and make sure to sort them by color. last 20 steps: 1- open the top drawer 2- put the blue cup on the drawer 3- adjust the cup 4- put the pink cup on the drawer 5- put the green cup on the drawer 6- place the blue cup corner of the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue cup on the drawer 2- put the pink cup on the drawer 3- put the green cup on the drawer 4- close the top drawer 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the colored plastic mugs away into the top drawer and make sure to sort them by color. last 20 steps: 1- open the top drawer 2- put the blue cup on the drawer 3- adjust the cup 4- put the pink cup on the drawer 5- put the green cup on the drawer 6- place the blue cup corner of the table Q: immediate next step? \u003cPRED\u003eA: put the blue cup on the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue cup on the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue cup on the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the blue cup on the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the colored plastic mugs away into the top drawer and make sure to sort them by color Q: immediate next step? \u003cPRED\u003eA: put the blue cup on the drawer\n\u003c/PRED\u003e","video":"2525558489425694766.mp4"}
+{"uid":"16890026344068638596","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the carrot Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2807674927871837645.mp4"}
+{"uid":"1932836129086351971","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please take out the items in each drawers . last 20 steps: 1- open the yellow drawer 2- put sphere shape object on the table 3- move sphere shape object forward 4- close the yellow drawer 5- stop the sphere shape object on the object 6- open the orange drawer 7- put reactangle shape object on the table 8- close the orange drawer 9- open the blue drawer 10- put square shape object on the table Q: next 5 steps? \u003cPRED\u003eA: 1- close the blue drawer 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please take out the items in each drawers Q: immediate next step? \u003cPRED\u003eA: close the blue drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the blue drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the blue drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the blue drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please take out the items in each drawers . last 20 steps: 1- open the yellow drawer 2- put sphere shape object on the table 3- move sphere shape object forward 4- close the yellow drawer 5- stop the sphere shape object on the object 6- open the orange drawer 7- put reactangle shape object on the table 8- close the orange drawer 9- open the blue drawer 10- put square shape object on the table Q: immediate next step? \u003cPRED\u003eA: close the blue drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the blue drawer\n\u003c/PRED\u003e","video":"16062986886258046896.mp4"}
+{"uid":"14980301575502403424","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nadjust the orange packet in the cart Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14273864386992108184.mp4"}
+{"uid":"15584047506794789057","text":"\u003ctask:success:discrete:False\u003e\nput the green cup on 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 green cup on the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the colored plastic mugs away into the top drawer and make sure to sort them by color. last 20 steps: 1- open the top drawer 2- put the blue cup on the drawer 3- adjust the cup 4- put the pink cup on the drawer 5- put the green cup on the drawer 6- place the blue cup corner of the table 7- put the blue cup on the drawer 8- put the pink cup on the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put the green cup on the drawer 2- close the top drawer 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the colored plastic mugs away into the top drawer and make sure to sort them by color. last 20 steps: 1- open the top drawer 2- put the blue cup on the drawer 3- adjust the cup 4- put the pink cup on the drawer 5- put the green cup on the drawer 6- place the blue cup corner of the table 7- put the blue cup on the drawer 8- put the pink cup on the drawer Q: immediate next step? \u003cPRED\u003eA: put the green cup on the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the green cup on the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the colored plastic mugs away into the top drawer and make sure to sort them by color Q: immediate next step? \u003cPRED\u003eA: put the green cup on the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the green cup on the drawer\n\u003c/PRED\u003e","video":"17334878177943248527.mp4"}
+{"uid":"17482406771301328413","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the colored plastic mugs away into the top drawer and make sure to sort them by color Q: immediate next step? \u003cPRED\u003eA: put the pink cup on the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pink cup on the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pink cup on the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the colored plastic mugs away into the top drawer and make sure to sort them by color. last 20 steps: 1- open the top drawer 2- put the blue cup on the drawer 3- adjust the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the pink cup on the drawer 2- put the green cup on the drawer 3- place the blue cup corner of the table 4- put the blue cup on the drawer 5- put the pink cup on the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the colored plastic mugs away into the top drawer and make sure to sort them by color. last 20 steps: 1- open the top drawer 2- put the blue cup on the drawer 3- adjust the cup Q: immediate next step? \u003cPRED\u003eA: put the pink cup on the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pink cup on the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pink cup on the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7549326065254193983.mp4"}
+{"uid":"18222224168579915207","text":"\u003ctask:success:discrete:False\u003e\nput the green cup on 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 green cup on the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the green cup on the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the green cup on the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the colored plastic mugs away into the top drawer and make sure to sort them by color Q: immediate next step? \u003cPRED\u003eA: put the green cup on the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the colored plastic mugs away into the top drawer and make sure to sort them by color. last 20 steps: 1- open the top drawer 2- put the blue cup on the drawer 3- adjust the cup 4- put the pink cup on the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put the green cup on the drawer 2- place the blue cup corner of the table 3- put the blue cup on the drawer 4- put the pink cup on the drawer 5- put the green cup on the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the colored plastic mugs away into the top drawer and make sure to sort them by color. last 20 steps: 1- open the top drawer 2- put the blue cup on the drawer 3- adjust the cup 4- put the pink cup on the drawer Q: immediate next step? \u003cPRED\u003eA: put the green cup on the drawer\n\u003c/PRED\u003e","video":"2973822571099213986.mp4"}
+{"uid":"11888224923383605892","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the wipes packet in the trolley Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9236955668321812325.mp4"}
+{"uid":"15906400899848726900","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the orange drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please take out the items in each drawers . last 20 steps: 1- open the yellow drawer 2- put sphere shape object on the table 3- move sphere shape object forward 4- close the yellow drawer 5- stop the sphere shape object on the object Q: next 5 steps? \u003cPRED\u003eA: 1- open the orange drawer 2- put reactangle shape object on the table 3- close the orange drawer 4- open the blue drawer 5- put square shape object on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the orange drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please take out the items in each drawers Q: immediate next step? \u003cPRED\u003eA: open the orange drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please take out the items in each drawers . last 20 steps: 1- open the yellow drawer 2- put sphere shape object on the table 3- move sphere shape object forward 4- close the yellow drawer 5- stop the sphere shape object on the object Q: immediate next step? \u003cPRED\u003eA: open the orange drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the orange drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the orange drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14899873076429465113.mp4"}
+{"uid":"4263618086041608940","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":"5995557180536076817.mp4"}
+{"uid":"2772176719513751225","text":"\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: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\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the colored plastic mugs away into the top drawer and make sure to sort them by color. last 20 steps: none 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:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the top drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the colored plastic mugs away into the top drawer and make sure to sort them by color Q: immediate next step? \u003cPRED\u003eA: open the top drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the colored plastic mugs away into the top drawer and make sure to sort them by color. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the top drawer 2- put the blue cup on the drawer 3- adjust the cup 4- put the pink cup on the drawer 5- put the green cup on the drawer\n\u003c/PRED\u003e","video":"10141762028055789945.mp4"}
+{"uid":"16200977025577768456","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput sphere shape object on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 take out the items in each drawers Q: immediate next step? \u003cPRED\u003eA: put sphere shape object on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please take out the items in each drawers . last 20 steps: 1- open the yellow drawer Q: immediate next step? \u003cPRED\u003eA: put sphere shape object on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put sphere shape object on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please take out the items in each drawers . last 20 steps: 1- open the yellow drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put sphere shape object on the table 2- move sphere shape object forward 3- close the yellow drawer 4- stop the sphere shape object on the object 5- open the orange drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput sphere shape object on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put sphere shape object on the table\n\u003c/PRED\u003e","video":"8516769776946781032.mp4"}
+{"uid":"28155905214936461","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the blue cup corner of the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the blue cup corner 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:discriminative:discrete:True\u003e\nplace the blue cup corner of the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the colored plastic mugs away into the top drawer and make sure to sort them by color. last 20 steps: 1- open the top drawer 2- put the blue cup on the drawer 3- adjust the cup 4- put the pink cup on the drawer 5- put the green cup on the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place the blue cup corner of the table 2- put the blue cup on the drawer 3- put the pink cup on the drawer 4- put the green cup on the drawer 5- close the top drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the colored plastic mugs away into the top drawer and make sure to sort them by color. last 20 steps: 1- open the top drawer 2- put the blue cup on the drawer 3- adjust the cup 4- put the pink cup on the drawer 5- put the green cup on the drawer Q: immediate next step? \u003cPRED\u003eA: place the blue cup corner of the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the colored plastic mugs away into the top drawer and make sure to sort them by color Q: immediate next step? \u003cPRED\u003eA: place the blue cup corner of the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the blue cup corner of the table\n\u003c/PRED\u003e","video":"7598690921468944347.mp4"}
+{"uid":"15939931788159706195","text":"\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:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put clip in stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput clip 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the office supplies into the holder. last 20 steps: 1- put invisible tape in the holder 2- put black box in the holder 3- put clip in the holder 4- put clip in stand 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 invisible tape in the holder 2- put black box in the holder 3- put clip in the holder 4- put clip in stand Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"5413384825602605311.mp4"}
+{"uid":"404835949014706526","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the office supplies into the holder. last 20 steps: 1- put invisible tape in the holder 2- put black box in 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\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: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: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 invisible tape in the holder 2- put black box in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put clip in the holder 2- put clip in stand 3- done\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","video":"2057244131258814166.mp4"}
+{"uid":"1730065683952591094","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the plastic cup on white table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17393242911707263637.mp4"}
+{"uid":"4336305576390624332","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10190890089627647687.mp4"}
+{"uid":"3728102880505885489","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pink cup on the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the pink cup on 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":"9474593891093408370.mp4"}
+{"uid":"7799129780189793408","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 2 toffees 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":"15231748783097764625.mp4"}
+{"uid":"8927641408697197713","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the mini brown box from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7819643848248081305.mp4"}
+{"uid":"15421947255600378383","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put clip in the holder\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","video":"6338834051099127413.mp4"}
+{"uid":"587685263718487598","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the office supplies into the holder. last 20 steps: 1- put invisible tape in the holder 2- put black box in the holder Q: immediate next step? \u003cPRED\u003eA: put paper clip in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put paper clip in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the office supplies into the holder. last 20 steps: 1- put invisible tape in the holder 2- put black box in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put paper clip in the stand 2- put clip in stand 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput paper clip in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put paper clip in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput paper clip in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the office supplies into the holder. Q: immediate next step? \u003cPRED\u003eA: put paper clip in the stand\n\u003c/PRED\u003e","video":"4331755521462365073.mp4"}
+{"uid":"14731849924754743841","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":"5468014648808594008.mp4"}
+{"uid":"13723333211784697007","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the scoop on the 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":"14428185869191681311.mp4"}
+{"uid":"5465639180549737397","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove away 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":"13466057184709200511.mp4"}
+{"uid":"11571094619619908887","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: adjust the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: adjust the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the colored plastic mugs away into the top drawer and make sure to sort them by color. last 20 steps: 1- open the top drawer 2- put the blue cup on the drawer Q: immediate next step? \u003cPRED\u003eA: adjust the cup\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the blue cup on the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the colored plastic mugs away into the top drawer and make sure to sort them by color Q: immediate next step? \u003cPRED\u003eA: adjust the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the colored plastic mugs away into the top drawer and make sure to sort them by color. last 20 steps: 1- open the top drawer 2- put the blue cup on the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- adjust the cup 2- put the pink cup on the drawer 3- put the green cup on the drawer 4- place the blue cup corner of the table 5- put the blue cup on the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the blue cup on 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:affordance:discriminative:discrete:True\u003e\nadjust 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\nadjust the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11610949497245833545.mp4"}
+{"uid":"8993214705690328921","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the blue cup corner of the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the blue cup corner 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":"1890672212563991490.mp4"}
+{"uid":"4830585306905432059","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick the black cable on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7303221703596701863.mp4"}
+{"uid":"619098663878002328","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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the office supplies into the holder. last 20 steps: 1- put invisible tape in the holder 2- put black box in the holder 3- put clip in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put clip in the holder 2- done\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: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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the office supplies into the holder. last 20 steps: 1- put invisible tape in the holder 2- put black box in the holder 3- put clip in 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\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put clip in the holder\n\u003c/PRED\u003e","video":"16526485643606575765.mp4"}
+{"uid":"1737330778282508865","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove to 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":"16149240265777290859.mp4"}
+{"uid":"16845187495091008477","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put square shape object on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput square shape object 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":"3972873170401816703.mp4"}
+{"uid":"8963181300774069519","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":"4790394757662261636.mp4"}
+{"uid":"2207158547950076399","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":"12680891781931822289.mp4"}
+{"uid":"12099200912261854339","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick the black pebble Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12408300335419632831.mp4"}
+{"uid":"10069504671452001850","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the packets in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9836548780761363920.mp4"}
+{"uid":"3804664203925153685","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please go make me a bowl of pistachios . last 20 steps: 1- Put the bowl up right 2- open the glass jar lid 3- Put the pistachios in the bowl 4- Put the pistachios in the bowl 5- Put the pistachios in the bowl 6- Put the scooper in the holder 7- close the glass jar lid Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close the glass jar lid\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please go make me a bowl of pistachios . last 20 steps: 1- Put the bowl up right 2- open the glass jar lid 3- Put the pistachios in the bowl 4- Put the pistachios in the bowl 5- Put the pistachios in the bowl 6- Put the scooper in the holder 7- close the glass jar lid Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nclose the glass jar lid Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please go make me a bowl of pistachios Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"7089878046564561229.mp4"}
+{"uid":"3298863655198067569","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get me a snack from Mk kitchen to my desk. last 20 steps: 1- open the door 2- put packet on the table 3- close the drawer Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get me a snack from Mk kitchen to my desk 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: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:success:discrete:False\u003e\nput packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get me a snack from Mk kitchen to my desk. last 20 steps: 1- open the door 2- put packet on the table 3- close the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on the table 2- done\n\u003c/PRED\u003e","video":"2093772131108669581.mp4"}
+{"uid":"3558188912035348136","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace two brown packet in brown packet section of 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":"6510004703044170194.mp4"}
+{"uid":"9312032066885234608","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the glass jar lid\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nopen the glass jar lid Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11353614341201290088.mp4"}
+{"uid":"14768973697000060736","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please go make me a bowl of pistachios . last 20 steps: 1- Put the bowl up right 2- open the glass jar lid 3- Put the pistachios in the bowl 4- Put the pistachios in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the pistachios in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pistachios in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please go make me a bowl of pistachios Q: immediate next step? \u003cPRED\u003eA: Put the pistachios in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pistachios in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pistachios in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please go make me a bowl of pistachios . last 20 steps: 1- Put the bowl up right 2- open the glass jar lid 3- Put the pistachios in the bowl 4- Put the pistachios in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pistachios in the bowl 2- Put the scooper in the holder 3- close the glass jar lid 4- done\n\u003c/PRED\u003e","video":"10714392492194849210.mp4"}
+{"uid":"12357498894369061769","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the cup in the cup stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7862934847718286617.mp4"}
+{"uid":"8090652147552920431","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the bowl up right\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the bowl up right\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please go make me a bowl of pistachios . last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the bowl up right 2- open the glass jar lid 3- Put the pistachios in the bowl 4- Put the pistachios in the bowl 5- Put the pistachios in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the bowl up right Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the bowl up right Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please go make me a bowl of pistachios Q: immediate next step? \u003cPRED\u003eA: Put the bowl up right\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please go make me a bowl of pistachios . last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the bowl up right\n\u003c/PRED\u003e","video":"6577861516939852672.mp4"}
+{"uid":"5703264349355725299","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please go make me a bowl of pistachios . last 20 steps: 1- Put the bowl up right 2- open the glass jar lid 3- Put the pistachios in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the pistachios in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please go make me a bowl of pistachios . last 20 steps: 1- Put the bowl up right 2- open the glass jar lid 3- Put the pistachios in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pistachios in the bowl 2- Put the pistachios in the bowl 3- Put the scooper in the holder 4- close the glass jar lid 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pistachios in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pistachios in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please go make me a bowl of pistachios Q: immediate next step? \u003cPRED\u003eA: Put the pistachios in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pistachios 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":"2839985904877683185.mp4"}
+{"uid":"18397997846541629098","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the lids 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":"14611579952287172121.mp4"}
+{"uid":"4358506416917246165","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the pistachios in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the pistachios 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":"811781973268469790.mp4"}
+{"uid":"5500910917868187361","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get me a snack from Mk kitchen to my desk. last 20 steps: 1- open the door Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on the table 2- close the drawer 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get me a snack from Mk kitchen to my desk 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: get me a snack from Mk kitchen to my desk. last 20 steps: 1- open the door Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11475107486819972121.mp4"}
+{"uid":"1855678580049948950","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove away from the coconut bottle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14903800752273294441.mp4"}
+{"uid":"12687730190335286777","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please go make me a bowl of pistachios . last 20 steps: 1- Put the bowl up right 2- open the glass jar lid Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pistachios in the bowl 2- Put the pistachios in the bowl 3- Put the pistachios in the bowl 4- Put the scooper in the holder 5- close the glass jar lid\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pistachios in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please go make me a bowl of pistachios . last 20 steps: 1- Put the bowl up right 2- open the glass jar lid Q: immediate next step? \u003cPRED\u003eA: Put the pistachios in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please go make me a bowl of pistachios Q: immediate next step? \u003cPRED\u003eA: Put the pistachios in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the pistachios 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 pistachios in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pistachios in the bowl\n\u003c/PRED\u003e","video":"8964660822817049548.mp4"}
+{"uid":"10000778163706037201","text":"\u003ctask:success:discrete:False\u003e\nclose the glass jar lid Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the glass jar lid\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the glass jar lid\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the glass jar lid Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please go make me a bowl of pistachios Q: immediate next step? \u003cPRED\u003eA: close the glass jar lid\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please go make me a bowl of pistachios . last 20 steps: 1- Put the bowl up right 2- open the glass jar lid 3- Put the pistachios in the bowl 4- Put the pistachios in the bowl 5- Put the pistachios in the bowl 6- Put the scooper in the holder Q: immediate next step? \u003cPRED\u003eA: close the glass jar lid\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please go make me a bowl of pistachios . last 20 steps: 1- Put the bowl up right 2- open the glass jar lid 3- Put the pistachios in the bowl 4- Put the pistachios in the bowl 5- Put the pistachios in the bowl 6- Put the scooper in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- close the glass jar lid 2- done\n\u003c/PRED\u003e","video":"17169292791506734047.mp4"}
+{"uid":"4492053407871801955","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get me a snack from Mk kitchen to my desk. last 20 steps: 1- open the door 2- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- put packet on the table 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get me a snack from Mk kitchen to my desk 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: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: get me a snack from Mk kitchen to my desk. last 20 steps: 1- open the door 2- put packet on the table Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8283070222119258016.mp4"}
+{"uid":"17979508341324927750","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the green 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":"2469845465157325639.mp4"}
+{"uid":"3989473794945494668","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the pistachios in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the pistachios 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":"3950629194960307803.mp4"}
+{"uid":"10287647239034006963","text":"\u003ctask:success:discrete:False\u003e\nopen the glass jar lid Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the glass jar lid Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the glass jar lid\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the glass jar lid\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please go make me a bowl of pistachios . last 20 steps: 1- Put the bowl up right Q: immediate next step? \u003cPRED\u003eA: open the glass jar lid\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please go make me a bowl of pistachios . last 20 steps: 1- Put the bowl up right Q: next 5 steps? \u003cPRED\u003eA: 1- open the glass jar lid 2- Put the pistachios in the bowl 3- Put the pistachios in the bowl 4- Put the pistachios in the bowl 5- Put the scooper in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please go make me a bowl of pistachios Q: immediate next step? \u003cPRED\u003eA: open the glass jar lid\n\u003c/PRED\u003e","video":"709279954541006983.mp4"}
+{"uid":"6673767202869255335","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove to the red striped 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":"7560971427045837880.mp4"}
+{"uid":"14383866700218906058","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the pistachios in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the pistachios 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":"1477516677420838566.mp4"}
+{"uid":"7710117667264906357","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet on the Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16202925944733588526.mp4"}
+{"uid":"8013538395366589143","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \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: get me a snack from Mk kitchen to my desk. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the door 2- put packet on the table 3- close the drawer 4- put packet on the table 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get me a snack from Mk kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: open the door\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get me a snack from Mk kitchen to my desk. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the door\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the door\n\u003c/PRED\u003e","video":"11018259454015909321.mp4"}
+{"uid":"3934992241039086124","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: get me a snack from Mk kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put 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\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get me a snack from Mk kitchen to my desk. last 20 steps: 1- open the door 2- put packet on the table 3- close the drawer 4- put packet on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get me a snack from Mk kitchen to my desk. last 20 steps: 1- open the door 2- put packet on the table 3- close the drawer 4- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"4709448520120007980.mp4"}
+{"uid":"11923142642626904294","text":"\u003ctask:success:discrete:False\u003e\nPut the scooper 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 go make me a bowl of pistachios Q: immediate next step? \u003cPRED\u003eA: Put the scooper in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the scooper in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please go make me a bowl of pistachios . last 20 steps: 1- Put the bowl up right 2- open the glass jar lid 3- Put the pistachios in the bowl 4- Put the pistachios in the bowl 5- Put the pistachios in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the scooper in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please go make me a bowl of pistachios . last 20 steps: 1- Put the bowl up right 2- open the glass jar lid 3- Put the pistachios in the bowl 4- Put the pistachios in the bowl 5- Put the pistachios in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the scooper in the holder 2- close the glass jar lid 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the scooper in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the scooper 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":"998835447100649122.mp4"}
+{"uid":"8958928829810673422","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput knife in middle cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1132755360990468739.mp4"}
+{"uid":"951171515028094642","text":"\u003ctask:success:discrete:True\u003e\nPlace the pens in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the pens in the stand\n\u003c/PRED\u003e","video":"16983088103678324890.mp4"}
+{"uid":"2495409625494126213","text":"\u003ctask:success:discrete:False\u003e\nPut the black 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: place the pens in the pen holder. last 20 steps: 1- Put pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the black pen in the holder 2- Put pens in the pen holder 3- Put pen in the pen holder 4- Put pen in the pen holder 5- Put pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the black pen in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the black pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the black 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: place the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: Put the black pen in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the pens in the pen holder. last 20 steps: 1- Put pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: Put the black pen in the holder\n\u003c/PRED\u003e","video":"12448023174806494197.mp4"}
+{"uid":"13767013785203335522","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":"15288615908884663460.mp4"}
+{"uid":"15909558324491620134","text":"\u003ctask:success:discrete:True\u003e\nPut the black 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 black pen in the holder\n\u003c/PRED\u003e","video":"17176664847423667296.mp4"}
+{"uid":"1309334866679948759","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the red pen in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the red pen in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the pens in the pen holder. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place the red pen in the stand 2- Put pen in the pen holder 3- Put pens in the pen holder 4- Put pen in the pen holder 5- Put pen in the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the pens in the pen holder. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place the red pen in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the red pen in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the red pen in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: Place the red pen in the stand\n\u003c/PRED\u003e","video":"2118993309195915189.mp4"}
+{"uid":"16424460307179219481","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut 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":"7471581516746376018.mp4"}
+{"uid":"1643357728874529321","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput chess coin on the chess 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":"18407439652609562087.mp4"}
+{"uid":"16740387065956658789","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut 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":"6811667762263120303.mp4"}
+{"uid":"6214974182800924021","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nexit the room with 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":"5399480846506257251.mp4"}
+{"uid":"9991552126595352564","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a pistachio in the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15205031366709137013.mp4"}
+{"uid":"9489885677325323124","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":"14198914459273134771.mp4"}
+{"uid":"15795110770496020573","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the sanitizer bottle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1968826389562118358.mp4"}
+{"uid":"5034652034252815191","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put two pens in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the pens in the pen holder. last 20 steps: 1- Put pen in the pen holder 2- Put pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put two pens in the holder 2- Put pen in the pen holder 3- Put pen in the pen holder 4- Put pen in the pen holder 5- Place the blue pen in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the pens in the pen holder. last 20 steps: 1- Put pen in the pen holder 2- Put pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: Put two pens in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: Put two pens in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut two 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 two 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put two pens in the holder\n\u003c/PRED\u003e","video":"10257211150427220474.mp4"}
+{"uid":"13718340720552820161","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: Put the black pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the black 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 black 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 black pen in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the pens in the pen holder. last 20 steps: 1- Put pen in the pen holder 2- Put pen in the pen holder 3- Put pens in the pen holder 4- Put pen in the pen holder 5- Put pen in the pen holder 6- Put pen in the pen holder 7- Place the blue pen in the stand 8- Put pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: Put the black pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the pens in the pen holder. last 20 steps: 1- Put pen in the pen holder 2- Put pen in the pen holder 3- Put pens in the pen holder 4- Put pen in the pen holder 5- Put pen in the pen holder 6- Put pen in the pen holder 7- Place the blue pen in the stand 8- Put pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the black pen in the holder 2- done\n\u003c/PRED\u003e","video":"9087428463043455836.mp4"}
+{"uid":"15194094552329202338","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the pens in the pen holder. last 20 steps: 1- Put pen in the pen holder 2- Put pen in the pen holder 3- Put pens in the pen holder 4- Put pen in the pen holder 5- Put pen in the pen holder 6- Put pen in the pen holder 7- Place the blue pen in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- Place the blue pen in the stand 2- Put pen in the pen holder 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the blue pen in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the blue pen in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the blue pen in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: Place the blue pen in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the pens in the pen holder. last 20 steps: 1- Put pen in the pen holder 2- Put pen in the pen holder 3- Put pens in the pen holder 4- Put pen in the pen holder 5- Put pen in the pen holder 6- Put pen in the pen holder 7- Place the blue pen in the stand Q: immediate next step? \u003cPRED\u003eA: Place the blue pen in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the blue pen in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6423923380314627534.mp4"}
+{"uid":"15202234464474701933","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put pen in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: Put pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the pens in the pen holder. last 20 steps: 1- Put pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: Put pen in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the pens in the pen holder. last 20 steps: 1- Put pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put pen in the pen holder 2- Put pens in the pen holder 3- Put pen in the pen holder 4- Put pen in the pen holder 5- Put pen in the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put pen in the pen holder\n\u003c/PRED\u003e","video":"874837936875782508.mp4"}
+{"uid":"3857812996212416626","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the pens in the pen holder. last 20 steps: 1- Put pen in the pen holder 2- Put pen in the pen holder 3- Put pens in the pen holder 4- Put pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: Put pen in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: Put pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut 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 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 pen in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the pens in the pen holder. last 20 steps: 1- Put pen in the pen holder 2- Put pen in the pen holder 3- Put pens in the pen holder 4- Put pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put pen in the pen holder 2- Put pen in the pen holder 3- Place the blue pen in the stand 4- Put pen in the pen holder 5- Put pen in the pen holder\n\u003c/PRED\u003e","video":"15869226387415649795.mp4"}
+{"uid":"10751038569062510106","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput fruit in drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6035842119914982331.mp4"}
+{"uid":"17506355087430313314","text":"\u003ctask:success:discrete:False\u003e\nPut pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put pen in the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put pen in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: Put pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the pens in the pen holder. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put pen in the pen holder 2- Put pen in the pen holder 3- Put pens in the pen holder 4- Put pen in the pen holder 5- Put pen in the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the pens in the pen holder. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put pen in the pen holder\n\u003c/PRED\u003e","video":"1959958681305281235.mp4"}
+{"uid":"3471822391408795684","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the black pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the black 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":"4786692636909792187.mp4"}
+{"uid":"377564171931518213","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":"11465298750623231225.mp4"}
+{"uid":"6583415366173567085","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the marker on the board edge Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12818296795433125185.mp4"}
+{"uid":"2620654865694702951","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":"13524958002824389954.mp4"}
+{"uid":"17587658276355676954","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put pens in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut pens 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":"10038481735890302249.mp4"}
+{"uid":"1283162046719959624","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the coffee cups to the top of 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":"5797200302556218566.mp4"}
+{"uid":"4534731353354530256","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the black 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 black pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the pens in the pen holder. last 20 steps: 1- Put pen in the pen holder 2- Put pen in the pen holder 3- Put pens in the pen holder 4- Put pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the black pen in the holder 2- Put pen in the pen holder 3- Place the blue pen in the stand 4- Put pen in the pen holder 5- Put pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the black 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: place the pens in the pen holder. last 20 steps: 1- Put pen in the pen holder 2- Put pen in the pen holder 3- Put pens in the pen holder 4- Put pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: Put the black pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the black 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: place the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: Put the black pen in the holder\n\u003c/PRED\u003e","video":"297539729615352283.mp4"}
+{"uid":"2736684093928816504","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace a bigger clip 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":"13046285415667269727.mp4"}
+{"uid":"11141841104328335346","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the pens in the pen holder. last 20 steps: 1- Put pen in the pen holder 2- Put pen in the pen holder 3- Put pens in the pen holder 4- Put pen in the pen holder 5- Put pen in the pen holder 6- Put pen in the pen holder 7- Place the blue pen in the stand 8- Put pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- Place the blue pen in the stand 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the blue pen in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the blue pen in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the pens in the pen holder. last 20 steps: 1- Put pen in the pen holder 2- Put pen in the pen holder 3- Put pens in the pen holder 4- Put pen in the pen holder 5- Put pen in the pen holder 6- Put pen in the pen holder 7- Place the blue pen in the stand 8- Put pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: Place the blue pen in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: Place the blue pen in the stand\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 stand\n\u003c/PRED\u003e","video":"15555395527800107229.mp4"}
+{"uid":"1201684644533795149","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the pens in the pen holder. last 20 steps: 1- Put pen in the pen holder 2- Put pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: Put pens in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: Put pens in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the pens in the pen holder. last 20 steps: 1- Put pen in the pen holder 2- Put pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put pens in the pen holder 2- Put pen in the pen holder 3- Put pen in the pen holder 4- Put pen in the pen holder 5- Place the blue pen in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut pens in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut pens in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put pens in the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put pens in the pen holder\n\u003c/PRED\u003e","video":"15081437060617484444.mp4"}
+{"uid":"8462732461280625579","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the pens in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the pens in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the pens in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: Place the pens in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the pens in the pen holder. last 20 steps: 1- Put pen in the pen holder 2- Put pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: Place the pens in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the pens in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the pens in the pen holder. last 20 steps: 1- Put pen in the pen holder 2- Put pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pens in the stand 2- Put pen in the pen holder 3- Put pen in the pen holder 4- Put pen in the pen holder 5- Place the blue pen in the stand\n\u003c/PRED\u003e","video":"17058295216738089278.mp4"}
+{"uid":"13031868313644824850","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the black pen in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the black pen in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14084058005824645233.mp4"}
+{"uid":"15583786290791155118","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":"8776416469542779958.mp4"}
+{"uid":"18310057684266502369","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut 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":"17666611052666950201.mp4"}
+{"uid":"12869600080251365957","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace orange packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4904978912000104938.mp4"}
+{"uid":"5529718467678059513","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the blue pen in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the blue pen in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the pens in the pen holder. last 20 steps: 1- Put pen in the pen holder 2- Put pen in the pen holder 3- Put pens in the pen holder 4- Put pen in the pen holder 5- Put pen in the pen holder 6- Put pen in the pen holder 7- Place the blue pen in the stand 8- Put pen in the pen holder 9- Place the blue pen in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the pens in the pen holder. last 20 steps: 1- Put pen in the pen holder 2- Put pen in the pen holder 3- Put pens in the pen holder 4- Put pen in the pen holder 5- Put pen in the pen holder 6- Put pen in the pen holder 7- Place the blue pen in the stand 8- Put pen in the pen holder 9- Place the blue pen in the stand Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"6861964001748990941.mp4"}
+{"uid":"9542473852914735466","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the pen in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the pen in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the pens in the pen holder. last 20 steps: 1- Put pen in the pen holder 2- Put pen in the pen holder 3- Put pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: Place the pen in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the pen in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the pens in the pen holder. last 20 steps: 1- Put pen in the pen holder 2- Put pen in the pen holder 3- Put pens in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pen in the stand 2- Put pen in the pen holder 3- Put pen in the pen holder 4- Place the blue pen in the stand 5- Put pen in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: Place the pen in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the pen in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2583062771584684595.mp4"}
+{"uid":"2872197437878204936","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7686227203035680807.mp4"}
+{"uid":"12760769340177310809","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the black pen in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: Put the black pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the black 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: place the pens in the pen holder. last 20 steps: 1- Put pen in the pen holder 2- Put pen in the pen holder 3- Put pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: Put the black pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the pens in the pen holder. last 20 steps: 1- Put pen in the pen holder 2- Put pen in the pen holder 3- Put pens in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the black pen in the holder 2- Put pen in the pen holder 3- Put pen in the pen holder 4- Place the blue pen in the stand 5- Put pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the black 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 black pen in the holder\n\u003c/PRED\u003e","video":"12036647421285849398.mp4"}
+{"uid":"17847537121843395600","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the pens in the pen holder. last 20 steps: 1- Put pen in the pen holder 2- Put pen in the pen holder 3- Put pens in the pen holder 4- Put pen in the pen holder 5- Put pen in the pen holder 6- Put pen in the pen holder 7- Place the blue pen in the stand 8- Put pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: Put pen in the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put pen in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: Put pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put pen in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the pens in the pen holder. last 20 steps: 1- Put pen in the pen holder 2- Put pen in the pen holder 3- Put pens in the pen holder 4- Put pen in the pen holder 5- Put pen in the pen holder 6- Put pen in the pen holder 7- Place the blue pen in the stand 8- Put pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put pen in the pen holder 2- done\n\u003c/PRED\u003e","video":"17621336719000142649.mp4"}
+{"uid":"4567160878743002916","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the pens in the pen holder. last 20 steps: 1- Put pen in the pen holder 2- Put pen in the pen holder 3- Put pens in the pen holder 4- Put pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: Place the black pen in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: Place the black pen in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the black pen in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the black pen in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the pens in the pen holder. last 20 steps: 1- Put pen in the pen holder 2- Put pen in the pen holder 3- Put pens in the pen holder 4- Put pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- Place the black pen in the stand 2- Put pen in the pen holder 3- Place the blue pen in the stand 4- Put pen in the pen holder 5- Put 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 black pen in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the black pen in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15174508642478879725.mp4"}
+{"uid":"8229296828941849076","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place theblack pen in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace theblack pen in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the pens in the pen holder. last 20 steps: 1- Put pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- Place theblack pen in the stand 2- Put pens in the pen holder 3- Put pen in the pen holder 4- Put pen in the pen holder 5- Put pen in the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place theblack pen in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the pens in the pen holder. last 20 steps: 1- Put pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: Place theblack pen in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: Place theblack pen in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace theblack pen in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17221651040471617312.mp4"}
+{"uid":"6561027711981378315","text":"\u003ctask:success:discrete:True\u003e\nPut pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put pen in the pen holder\n\u003c/PRED\u003e","video":"1822252247005109829.mp4"}
+{"uid":"4425721836769733405","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the coffee cup lids on the existing stack in the glass holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2133673039458606402.mp4"}
+{"uid":"10868289642248196522","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":"6727903331604604068.mp4"}
+{"uid":"1814409707472163302","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut 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":"7417973009158313240.mp4"}
+{"uid":"5708842613333982321","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the pens in the pen holder. last 20 steps: 1- Put pen in the pen holder 2- Put pen in the pen holder 3- Put pens in the pen holder 4- Put pen in the pen holder 5- Put pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: Put pen in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: Put pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the pens in the pen holder. last 20 steps: 1- Put pen in the pen holder 2- Put pen in the pen holder 3- Put pens in the pen holder 4- Put pen in the pen holder 5- Put pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put pen in the pen holder 2- Place the blue pen in the stand 3- Put pen in the pen holder 4- Put pen in the pen holder 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put pen in the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put pen in the pen holder\n\u003c/PRED\u003e","video":"15860215180943398567.mp4"}
+{"uid":"7819803051089291689","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the red pen in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the pens in the pen holder. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the red pen in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: Put the red pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the red 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: place the pens in the pen holder. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the red pen in the holder 2- Put pen in the pen holder 3- Put pens in the pen holder 4- Put pen in the pen holder 5- Put pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the red 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 red pen in the holder\n\u003c/PRED\u003e","video":"3489595321914448014.mp4"}
+{"uid":"2013547336639536261","text":"\u003ctask:success:discrete:True\u003e\nPlace the blue pen in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the blue pen in the stand\n\u003c/PRED\u003e","video":"16565616976591303610.mp4"}
+{"uid":"11154294491181537070","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the black pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the black 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: place the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: Put the black 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 black pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the pens in the pen holder. last 20 steps: 1- Put pen in the pen holder 2- Put pen in the pen holder 3- Put pens in the pen holder 4- Put pen in the pen holder 5- Put pen in the pen holder 6- Put pen in the pen holder 7- Place the blue pen in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- Put the black pen in the holder 2- Put pen in the pen holder 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the pens in the pen holder. last 20 steps: 1- Put pen in the pen holder 2- Put pen in the pen holder 3- Put pens in the pen holder 4- Put pen in the pen holder 5- Put pen in the pen holder 6- Put pen in the pen holder 7- Place the blue pen in the stand Q: immediate next step? \u003cPRED\u003eA: Put the black pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the black 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":"6645738330564413557.mp4"}
+{"uid":"5706547992436591980","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":"4112187739181611997.mp4"}
+{"uid":"14790782506514924236","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the pens in the pen holder. last 20 steps: 1- Put pen in the pen holder 2- Put pen in the pen holder 3- Put pens in the pen holder 4- Put pen in the pen holder 5- Put pen in the pen holder 6- Put pen in the pen holder 7- Place the blue pen in the stand 8- Put pen in the pen holder 9- Put pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put pen in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the pens in the pen holder. last 20 steps: 1- Put pen in the pen holder 2- Put pen in the pen holder 3- Put pens in the pen holder 4- Put pen in the pen holder 5- Put pen in the pen holder 6- Put pen in the pen holder 7- Place the blue pen in the stand 8- Put pen in the pen holder 9- Put pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"16365579223544922426.mp4"}
+{"uid":"13912900097397535616","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":"13548266577419097273.mp4"}
+{"uid":"11774714068874708580","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the alphabet tiles in the bag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11161080405353584350.mp4"}
+{"uid":"16505564544568338548","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove the packets 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":"9449163018901709939.mp4"}
+{"uid":"11675040486906244867","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the blue pen in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the pens in the pen holder. last 20 steps: 1- Put pen in the pen holder 2- Put pen in the pen holder 3- Put pens in the pen holder 4- Put pen in the pen holder 5- Put pen in the pen holder 6- Put pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: Place the blue pen in the stand\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 stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: Place the blue pen in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the blue pen in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the blue pen in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the pens in the pen holder. last 20 steps: 1- Put pen in the pen holder 2- Put pen in the pen holder 3- Put pens in the pen holder 4- Put pen in the pen holder 5- Put pen in the pen holder 6- Put pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- Place the blue pen in the stand 2- Put pen in the pen holder 3- Put pen in the pen holder 4- done\n\u003c/PRED\u003e","video":"9400289091077266385.mp4"}
+{"uid":"9461358943997832515","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the pens in the pen holder. last 20 steps: 1- Put pen in the pen holder 2- Put pen in the pen holder 3- Put pens in the pen holder 4- Put pen in the pen holder 5- Put pen in the pen holder 6- Put pen in the pen holder 7- Place the blue pen in the stand Q: immediate next step? \u003cPRED\u003eA: Put pen in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: Put pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put pen in the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put pen in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the pens in the pen holder. last 20 steps: 1- Put pen in the pen holder 2- Put pen in the pen holder 3- Put pens in the pen holder 4- Put pen in the pen holder 5- Put pen in the pen holder 6- Put pen in the pen holder 7- Place the blue pen in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- Put pen in the pen holder 2- Put pen in the pen holder 3- done\n\u003c/PRED\u003e","video":"8216398153565009936.mp4"}
+{"uid":"7212201396429510921","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":"17994464030868389731.mp4"}
+{"uid":"5670863347352966537","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the marker in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8621430773943991111.mp4"}
+{"uid":"6660212854721367068","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":"8464916903171188816.mp4"}
+{"uid":"17279688669172755778","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the pens in the pen holder. last 20 steps: 1- Put pen in the pen holder 2- Put pen in the pen holder 3- Put pens in the pen holder 4- Put pen in the pen holder 5- Put pen in the pen holder 6- Put pen in the pen holder 7- Place the blue pen in the stand 8- Put pen in the pen holder 9- Put the black pen in the holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the black pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the black pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the pens in the pen holder. last 20 steps: 1- Put pen in the pen holder 2- Put pen in the pen holder 3- Put pens in the pen holder 4- Put pen in the pen holder 5- Put pen in the pen holder 6- Put pen in the pen holder 7- Place the blue pen in the stand 8- Put pen in the pen holder 9- Put the black pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"16954277472721870045.mp4"}
+{"uid":"597593050839115458","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:planning:freeform\u003e\ncurrent goal is: place the pens in the pen 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: place the pens in the pen holder. last 20 steps: 1- Put pen in the pen holder 2- Put pen in the pen holder 3- Put pens in the pen holder 4- Put pen in the pen holder 5- Put pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the blue pen in the holder 2- Put pen in the pen holder 3- Put 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: 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\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the pens in the pen holder. last 20 steps: 1- Put pen in the pen holder 2- Put pen in the pen holder 3- Put pens in the pen holder 4- Put pen in the pen holder 5- Put pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: Put the blue pen in the holder\n\u003c/PRED\u003e","video":"9835736240256790444.mp4"}
+{"uid":"163960234622305091","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut 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":"1419754092711975110.mp4"}
+{"uid":"11388545850820312385","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the pens in the pen holder. last 20 steps: 1- Put pen in the pen holder 2- Put pen in the pen holder 3- Put pens in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put pen in the pen holder 2- Put pen in the pen holder 3- Put pen in the pen holder 4- Place the blue pen in the stand 5- Put pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put pen in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: Put pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the pens in the pen holder. last 20 steps: 1- Put pen in the pen holder 2- Put pen in the pen holder 3- Put pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: Put pen in the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put pen in the pen holder\n\u003c/PRED\u003e","video":"17197585202008903951.mp4"}
+{"uid":"13591018947975570721","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":"5793748865503923479.mp4"}
+{"uid":"1626451175136768097","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDraw on the paper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13330307594000883660.mp4"}
+{"uid":"1422951044803592555","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":"5742764293846703984.mp4"}
+{"uid":"9360492351492022963","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":"2392774544572074872.mp4"}
+{"uid":"12395139967359945374","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":"163903155279858583.mp4"}
+{"uid":"1028784788216341290","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: put the cube in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the cube in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- Open the box 2- Put the yellow packet in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the cube in the box 2- Put the black wire in the box 3- Put the apple in the box 4- Put the bowl in the box 5- 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 desk, then place items from the desk into the box. last 20 steps: 1- Open the box 2- Put the yellow packet in the box Q: immediate next step? \u003cPRED\u003eA: put the cube in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the cube 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 cube 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 cube in the box\n\u003c/PRED\u003e","video":"12697765598031837288.mp4"}
+{"uid":"12460591837639163210","text":"\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","video":"15335948978362141858.mp4"}
+{"uid":"12785554332277951707","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":"18019269310076217425.mp4"}
+{"uid":"7982917916773273759","text":"\u003ctask:success:discrete:True\u003e\nPut the black wire 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:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, 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 wire in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- Open the box 2- Put the yellow packet in the box 3- drop the white box into the box 4- Put the black wire in the box 5- Put the apple in the box 6- Put the bowl in the box 7- Put the marker in the box 8- Put the sponge in the box 9- drop the tissue box into the box 10- Put the penstand in the box 11- Put the black wire in the box Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- Open the box 2- Put the yellow packet in the box 3- drop the white box into the box 4- Put the black wire in the box 5- Put the apple in the box 6- Put the bowl in the box 7- Put the marker in the box 8- Put the sponge in the box 9- drop the tissue box into the box 10- Put the penstand in the box 11- Put the black wire in the box Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"8244541694399186937.mp4"}
+{"uid":"9920132955921253147","text":"\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\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Open the box\n\u003c/PRED\u003e","video":"1248226307453954485.mp4"}
+{"uid":"17855006986218837366","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- Open the box 2- Put the yellow packet in the box 3- drop the white box into the box 4- Put the black wire in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the bowl in the box 2- Put the marker in the box 3- Put the sponge in the box 4- drop the tissue box into the box 5- Put the penstand in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- Open the box 2- Put the yellow packet in the box 3- drop the white box into the box 4- Put the black wire in the box Q: immediate next step? \u003cPRED\u003eA: Put the bowl in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the bowl in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Put the bowl in the 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 box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut 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","video":"13175337385614823090.mp4"}
+{"uid":"16578109778756450812","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nArrange the seaweed snacks packets 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":"7679271040781880207.mp4"}
+{"uid":"1661921514347147305","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the marker into the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the marker 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":"14540699517469285903.mp4"}
+{"uid":"18373097164158913645","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- Open the box Q: immediate next step? \u003cPRED\u003eA: put the yellow packet in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: put the yellow packet in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the yellow packet in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the yellow packet in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the yellow packet in the box\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 box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- Open the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the yellow packet in the box 2- Put the marker in the box 3- Put the sponge in the box 4- drop the tissue box into the box 5- Put the penstand in the box\n\u003c/PRED\u003e","video":"15152175755835313830.mp4"}
+{"uid":"4236608016118086928","text":"\u003ctask:success:discrete:False\u003e\nput the apple in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the apple in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the apple 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 desk, then place items from the desk into the box. last 20 steps: 1- Open the box 2- Put the yellow packet in the box 3- drop the white box into the box 4- Put the black wire in the box Q: immediate next step? \u003cPRED\u003eA: put the apple in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: put the apple in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- Open the box 2- Put the yellow packet in the box 3- drop the white box into the box 4- Put the black wire in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the apple in the box 2- Put the marker in the box 3- Put the sponge in the box 4- drop the tissue box into the box 5- Put the penstand in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the apple in the box\n\u003c/PRED\u003e","video":"887028686748796394.mp4"}
+{"uid":"11009104583379323487","text":"\u003ctask:success:discrete:True\u003e\ndrop the white box 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 the white box into the box\n\u003c/PRED\u003e","video":"9785034917001183727.mp4"}
+{"uid":"3814542828935742989","text":"\u003ctask:success:discrete:True\u003e\nPut the yellow packet in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the yellow packet in the box\n\u003c/PRED\u003e","video":"3150678167784841306.mp4"}
+{"uid":"3279684491109101022","text":"\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\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the bowl into the box\n\u003c/PRED\u003e","video":"14505032524693317795.mp4"}
+{"uid":"1088598909341273669","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":"8326551935738142141.mp4"}
+{"uid":"18335921924633456262","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the penstand in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the penstand 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":"8965305381884114158.mp4"}
+{"uid":"18131535914678989667","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the penstand in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the penstand 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 desk, then place items from the desk into the box. last 20 steps: 1- Open the box 2- Put the yellow packet in the box 3- drop the white box into the box 4- Put the black wire in the box 5- Put the apple in the box 6- Put the bowl in the box 7- Put the marker in the box 8- Put the sponge in the box 9- drop the tissue box into the box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the penstand in the box 2- Put the black wire in the box 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the penstand 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 desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Put the penstand in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- Open the box 2- Put the yellow packet in the box 3- drop the white box into the box 4- Put the black wire in the box 5- Put the apple in the box 6- Put the bowl in the box 7- Put the marker in the box 8- Put the sponge in the box 9- drop the tissue box into the box Q: immediate next step? \u003cPRED\u003eA: Put the penstand in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the penstand in the box\n\u003c/PRED\u003e","video":"15258681115655024845.mp4"}
+{"uid":"5132690101254113776","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the sticky notes in glass vessel Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9213968338787086592.mp4"}
+{"uid":"6952531355360895042","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the bowl in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut 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":"15163161950677458631.mp4"}
+{"uid":"4669674269948282802","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: drop the marker into the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the marker into the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- Open the box 2- Put the yellow packet in the box 3- drop the white box into the box 4- Put the black wire in the box 5- Put the apple in the box 6- Put the bowl in the box Q: next 5 steps? \u003cPRED\u003eA: 1- drop the marker into the box 2- Put the sponge in the box 3- drop the tissue box into the box 4- Put the penstand in the box 5- Put the 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 desk, then place items from the desk into the box. last 20 steps: 1- Open the box 2- Put the yellow packet in the box 3- drop the white box into the box 4- Put the black wire in the box 5- Put the apple in the box 6- Put the bowl in the box Q: immediate next step? \u003cPRED\u003eA: drop the marker into the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the marker into the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the 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","video":"13521368950910661435.mp4"}
+{"uid":"10474414473870423581","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the tissue box into the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- Open the box 2- Put the yellow packet in the box 3- drop the white box into the box 4- Put the black wire in the box 5- Put the apple in the box 6- Put the bowl in the box 7- Put the marker in the box 8- Put the sponge in the box Q: immediate next step? \u003cPRED\u003eA: drop the tissue box into the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the tissue box 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 tissue box into the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- Open the box 2- Put the yellow packet in the box 3- drop the white box into the box 4- Put the black wire in the box 5- Put the apple in the box 6- Put the bowl in the box 7- Put the marker in the box 8- Put the sponge in the box Q: next 5 steps? \u003cPRED\u003eA: 1- drop the tissue box into the box 2- Put the penstand in the box 3- Put the black wire in the box 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the tissue box into the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: drop the tissue box into the box\n\u003c/PRED\u003e","video":"1769204532035867834.mp4"}
+{"uid":"10194673344359594758","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":"543834561285008018.mp4"}
+{"uid":"11349148598516586620","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13957865289080544019.mp4"}
+{"uid":"3955744749379942519","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16201058127800760020.mp4"}
+{"uid":"17346430296895139777","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the yellow packet in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the yellow packet in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- Open the box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the yellow packet in the box 2- drop the white box into the box 3- Put the black wire in the box 4- Put the apple in the box 5- Put the bowl in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Put the yellow packet in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the yellow packet in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- Open the box Q: immediate next step? \u003cPRED\u003eA: Put the yellow packet in the 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 box\n\u003c/PRED\u003e","video":"2658584053187563049.mp4"}
+{"uid":"7324390619721751306","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachios in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2055115800191592381.mp4"}
+{"uid":"11413465663312749935","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":"11467077264922545529.mp4"}
+{"uid":"14052987479300395047","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pepsi 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":"5107743243207165801.mp4"}
+{"uid":"15857392733904182412","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- Open the box 2- Put the yellow packet in the box 3- drop the white box into the box 4- Put the black wire in the box 5- Put the apple in the box 6- Put the bowl in the box 7- Put the marker in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the sponge in the box 2- drop the tissue box into the box 3- Put the penstand in the box 4- Put the black 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: Put the sponge in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, 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: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 desk, then place items from the desk into the box. last 20 steps: 1- Open the box 2- Put the yellow packet in the box 3- drop the white box into the box 4- Put the black wire in the box 5- Put the apple in the box 6- Put the bowl in the box 7- Put the marker in the box Q: immediate next step? \u003cPRED\u003eA: Put the sponge in the box\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: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","video":"8830822103318880231.mp4"}
+{"uid":"17503498143652295981","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":"16850135611971668256.mp4"}
+{"uid":"8464000580938066967","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the sticky notepad 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":"4884491605942847445.mp4"}
+{"uid":"45398817032140433","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen holder in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen holder in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- Open the box 2- Put the yellow packet in the box 3- drop the white box into the box 4- Put the black wire in the box 5- Put the apple in the box 6- Put the bowl in the box 7- Put the marker in the box 8- Put the sponge in the box 9- drop the tissue box into the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen holder in the box 2- Put the black wire in the box 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen holder in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: put the pen holder in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen holder in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- Open the box 2- Put the yellow packet in the box 3- drop the white box into the box 4- Put the black wire in the box 5- Put the apple in the box 6- Put the bowl in the box 7- Put the marker in the box 8- Put the sponge in the box 9- drop the tissue box into the box Q: immediate next step? \u003cPRED\u003eA: put the pen holder in the box\n\u003c/PRED\u003e","video":"17744904428508049968.mp4"}
+{"uid":"10234198694195848122","text":"\u003ctask:success:discrete:True\u003e\ndrop the duster 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 the duster into the box\n\u003c/PRED\u003e","video":"13389523710942807801.mp4"}
+{"uid":"3694207637843852011","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the cable 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\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: drop the cable wire into the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the cable wire 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 wire into the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- Open the box 2- Put the yellow packet in the box 3- drop the white box into the box 4- Put the black wire in the box 5- Put the apple in the box 6- Put the bowl in the box 7- Put the marker in the box 8- Put the sponge in the box 9- drop the tissue box into the box 10- Put the penstand in the box Q: immediate next step? \u003cPRED\u003eA: drop the cable wire into the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the cable 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- Open the box 2- Put the yellow packet in the box 3- drop the white box into the box 4- Put the black wire in the box 5- Put the apple in the box 6- Put the bowl in the box 7- Put the marker in the box 8- Put the sponge in the box 9- drop the tissue box into the box 10- Put the penstand in the box Q: next 5 steps? \u003cPRED\u003eA: 1- drop the cable wire into the box 2- done\n\u003c/PRED\u003e","video":"6002293867106072150.mp4"}
+{"uid":"3752152481328248617","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- Open the box 2- Put the yellow packet in the box 3- drop the white box into the box 4- Put the black wire in the box 5- Put the apple in the box 6- Put the bowl in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the marker in the box 2- Put the sponge in the box 3- drop the tissue box into the box 4- Put the penstand in the box 5- Put the black wire in the box\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\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:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- Open the box 2- Put the yellow packet in the box 3- drop the white box into the box 4- Put the black wire in the box 5- Put the apple in the box 6- Put the bowl in 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:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the marker in the box\n\u003c/PRED\u003e","video":"14291575246518333238.mp4"}
+{"uid":"2141266344998851336","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the apple in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the apple 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":"14793158137350473858.mp4"}
+{"uid":"6951684471000963355","text":"\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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- Open the box 2- Put the yellow packet in the box 3- drop the white box into the box 4- Put the black wire in the box 5- Put the apple in the box 6- Put 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 desk, 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- Open the box 2- Put the yellow packet in the box 3- drop the white box into the box 4- Put the black wire in the box 5- Put the apple in the box 6- Put the bowl in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the marker in the box 2- Put the sponge in the box 3- drop the tissue box into the box 4- Put the penstand in the box 5- 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 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":"16128959840155965855.mp4"}
+{"uid":"15918223131894944818","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the black cable in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the black cable 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":"5540487193769861858.mp4"}
+{"uid":"5918502563497569924","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":"7029718364592498675.mp4"}
+{"uid":"8622849461462363753","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pista in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4836745515063060968.mp4"}
+{"uid":"6680129719065700408","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the apple 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 apple in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the apple in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- Open the box 2- Put the yellow packet in the box 3- drop the white box into the box 4- Put the black wire in the box Q: immediate next step? \u003cPRED\u003eA: Put the apple in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- Open the box 2- Put the yellow packet in the box 3- drop the white box into the box 4- Put the black wire in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the apple in the box 2- Put the marker in the box 3- Put the sponge in the box 4- drop the tissue box into the box 5- Put the penstand in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the apple in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Put the apple in the box\n\u003c/PRED\u003e","video":"8647756453936318682.mp4"}
+{"uid":"15286973848848518273","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nWrite on 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":"18284969785346938386.mp4"}
+{"uid":"5966156929851716848","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- Open the box 2- Put the yellow packet in the box 3- drop the white box into the box Q: immediate next step? \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 desk, then place items from the desk into the box. last 20 steps: 1- Open the box 2- Put the yellow packet in the box 3- drop the white box into the box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the black wire in the box 2- Put the apple in the box 3- Put the bowl in the box 4- Put the marker in the box 5- Put the sponge in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, 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: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: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: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: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":"17227799597994654175.mp4"}
+{"uid":"496857096117451679","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the black wire into the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the black 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","video":"16531740107502144944.mp4"}
+{"uid":"1121119673708574895","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the notepad on another notepad Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11842009102687757238.mp4"}
+{"uid":"4760804343717708596","text":"\u003ctask:success:discrete:True\u003e\ndrop the tissue box 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 the tissue box into the box\n\u003c/PRED\u003e","video":"17114543784870804357.mp4"}
+{"uid":"12189220907128780086","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nleave the room with paper 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":"14924502894079734775.mp4"}
+{"uid":"7807665846833399995","text":"\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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \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\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the box 2- Put the yellow packet in the box 3- drop the white box into the box 4- Put the black wire in the box 5- Put the apple in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, 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:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: open the box\n\u003c/PRED\u003e","video":"11274536439836093191.mp4"}
+{"uid":"13815309895083419020","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the bowl in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: put 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 desk, then place items from the desk into the box. last 20 steps: 1- Open the box 2- Put the yellow packet in the box 3- drop the white box into the box 4- Put the black wire in the box 5- Put the apple in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the bowl in the box 2- Put the marker in the box 3- Put the sponge in the box 4- drop the tissue box into the box 5- Put the penstand in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put 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 desk, then place items from the desk into the box. last 20 steps: 1- Open the box 2- Put the yellow packet in the box 3- drop the white box into the box 4- Put the black wire in the box 5- Put the apple in the box Q: immediate next step? \u003cPRED\u003eA: put the bowl in the box\n\u003c/PRED\u003e","video":"12276312126924015562.mp4"}
+{"uid":"892199827717463277","text":"\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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the sponge in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, 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: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 desk, then place items from the desk into the box. last 20 steps: 1- Open the box 2- Put the yellow packet in the box 3- drop the white box into the box 4- Put the black wire in the box 5- Put the apple in the box 6- Put the bowl in the box 7- Put the marker in the box Q: immediate next step? \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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- Open the box 2- Put the yellow packet in the box 3- drop the white box into the box 4- Put the black wire in the box 5- Put the apple in the box 6- Put the bowl in the box 7- Put the marker in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the sponge in the box 2- drop the tissue box into the box 3- Put the penstand in the box 4- Put the black wire in the box 5- done\n\u003c/PRED\u003e","video":"2665096242209957590.mp4"}
+{"uid":"12408315268165719399","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, 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\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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the box 2- Put the yellow packet in the box 3- drop the white box into the box 4- Put the black wire in the box 5- Put the apple in the box\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","video":"6327273754113040089.mp4"}
+{"uid":"9588601337760077299","text":"\u003ctask:success:discrete:False\u003e\nput the blue cable 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 blue cable in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue cable in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue cable in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- Open the box 2- Put the yellow packet in the box 3- drop the white box into the box 4- Put the black wire in the box 5- Put the apple in the box 6- Put the bowl in the box 7- Put the marker in the box 8- Put the sponge in the box 9- drop the tissue box into the box 10- Put the penstand in the box Q: immediate next step? \u003cPRED\u003eA: put the blue cable in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- Open the box 2- Put the yellow packet in the box 3- drop the white box into the box 4- Put the black wire in the box 5- Put the apple in the box 6- Put the bowl in the box 7- Put the marker in the box 8- Put the sponge in the box 9- drop the tissue box into the box 10- Put the penstand in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue cable in the box 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: put the blue cable in the box\n\u003c/PRED\u003e","video":"4922502016296257959.mp4"}
+{"uid":"17106084594245687535","text":"\u003ctask:success:discrete:True\u003e\nPut the apple 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 apple in the box\n\u003c/PRED\u003e","video":"6144252839295914581.mp4"}
+{"uid":"7240021415526090627","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen holder in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the pen holder 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":"16810908229495185004.mp4"}
+{"uid":"16195782538447649736","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack cup on the top of existing cups Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15362387849420962972.mp4"}
+{"uid":"13580077978162238086","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":"6916023569861372273.mp4"}
+{"uid":"4570752788343453432","text":"\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\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- Open the box 2- Put the yellow packet in the box 3- drop the white box into the box 4- Put the black wire in the box 5- Put the apple in the box 6- Put the bowl in the box 7- Put the marker in the box 8- Put the sponge in the box 9- drop the tissue box into the box 10- Put the penstand in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the black wire in the box 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- Open the box 2- Put the yellow packet in the box 3- drop the white box into the box 4- Put the black wire in the box 5- Put the apple in the box 6- Put the bowl in the box 7- Put the marker in the box 8- Put the sponge in the box 9- drop the tissue box into the box 10- Put the penstand in the box Q: immediate next step? \u003cPRED\u003eA: Put the black wire in the box\n\u003c/PRED\u003e\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: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: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","video":"8335129632872707631.mp4"}
+{"uid":"3050480846480455430","text":"\u003ctask:success:discrete:True\u003e\ndrop the apple 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 the apple into the box\n\u003c/PRED\u003e","video":"177134088921682876.mp4"}
+{"uid":"2609792495235059087","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the wipes pack into the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the wipes pack into the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: drop the wipes pack into the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, 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 wipes pack into the box 2- drop the white box into the box 3- Put the black wire in the box 4- Put the apple in the box 5- Put the bowl in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the wipes pack 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 wipes pack into the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- Open the box Q: immediate next step? \u003cPRED\u003eA: drop the wipes pack into the box\n\u003c/PRED\u003e","video":"10837449695210803112.mp4"}
+{"uid":"1529598561579537702","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the green candies in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2594014896002784571.mp4"}
+{"uid":"7028389842016878448","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the pen holder into the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the pen holder 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":"12141806403576903971.mp4"}
+{"uid":"11537747904885972037","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the two green 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":"12370501232365605914.mp4"}
+{"uid":"4914815945702207043","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the book on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5456681773356959830.mp4"}
+{"uid":"14232240830306921543","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the glass the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18169071784810055685.mp4"}
+{"uid":"11154397805040519988","text":"\u003ctask:success:discrete:True\u003e\ndrop the wipes pack 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 the wipes pack into the box\n\u003c/PRED\u003e","video":"339603760989837041.mp4"}
+{"uid":"14834053321600891593","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":"1431482151218508938.mp4"}
+{"uid":"2204288656686056457","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":"12644225035289486294.mp4"}
+{"uid":"1037376929679607546","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the black 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\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the black wire into the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- Open the box 2- Put the yellow packet in the box 3- drop the white box into the box Q: next 5 steps? \u003cPRED\u003eA: 1- drop the black wire into the box 2- Put the apple in the box 3- Put the bowl in the box 4- Put the marker in the box 5- Put the sponge in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the black 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- Open the box 2- Put the yellow packet in the box 3- drop the white box into the box Q: immediate next step? \u003cPRED\u003eA: drop the black wire into the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: drop the black wire into the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the black wire into the box\n\u003c/PRED\u003e","video":"8051349319394812809.mp4"}
+{"uid":"792695238676483782","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- Open the box 2- Put the yellow packet in the box 3- drop the white box into the box 4- Put the black wire in the box Q: next 5 steps? \u003cPRED\u003eA: 1- drop the apple into the box 2- Put the bowl in the box 3- Put the marker in the box 4- Put the sponge in the box 5- drop the tissue box into the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the apple into the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the apple into the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the apple into the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- Open the box 2- Put the yellow packet in the box 3- drop the white box into the box 4- Put the black wire in the box Q: immediate next step? \u003cPRED\u003eA: drop the apple into the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: drop the apple into the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the apple into the box\n\u003c/PRED\u003e","video":"7561074520886732783.mp4"}
+{"uid":"17190066195785041536","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":"6059290375382101544.mp4"}
+{"uid":"16120743926931012487","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachio in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2893460984081122314.mp4"}
+{"uid":"10938867684519615413","text":"\u003ctask:success:discrete:True\u003e\nput the yellow packet in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the yellow packet in the box\n\u003c/PRED\u003e","video":"3508997127320464770.mp4"}
+{"uid":"5808857551317159337","text":"\u003ctask:success:discrete:False\u003e\nput the tissue paper box 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 tissue paper box 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 desk, then place items from the desk into the box. last 20 steps: 1- Open the box 2- Put the yellow packet in the box 3- drop the white box into the box 4- Put the black wire in the box 5- Put the apple in the box 6- Put the bowl in the box 7- Put the marker in the box 8- Put the sponge in the box Q: immediate next step? \u003cPRED\u003eA: put the tissue paper box in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- Open the box 2- Put the yellow packet in the box 3- drop the white box into the box 4- Put the black wire in the box 5- Put the apple in the box 6- Put the bowl in the box 7- Put the marker in the box 8- Put the sponge in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the tissue paper box in the box 2- Put the penstand in the box 3- Put the black wire in the box 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the tissue paper box in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: put the tissue paper box in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the tissue paper box in the box\n\u003c/PRED\u003e","video":"14004194265208840575.mp4"}
+{"uid":"652057434334390623","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the black wire in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the black wire 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":"7738514947282659602.mp4"}
+{"uid":"17518651918067031322","text":"\u003ctask:success:discrete:False\u003e\nput the black cable 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 desk, then place items from the desk into the box. last 20 steps: 1- Open the box 2- Put the yellow packet in the box 3- drop the white box into the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the black cable in the box 2- Put the apple in the box 3- Put the bowl in the box 4- Put the marker in the box 5- Put the sponge in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: put the black cable 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 cable in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the black cable in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the black cable 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 desk, then place items from the desk into the box. last 20 steps: 1- Open the box 2- Put the yellow packet in the box 3- drop the white box into the box Q: immediate next step? \u003cPRED\u003eA: put the black cable in the box\n\u003c/PRED\u003e","video":"18253698609379348067.mp4"}
+{"uid":"17989281306461365393","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- Open the box 2- Put the yellow packet in the box Q: immediate next step? \u003cPRED\u003eA: drop the white box into the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the white box into the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: drop the white box into the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the white box 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 white box 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 desk, then place items from the desk into the box. last 20 steps: 1- Open the box 2- Put the yellow packet in the box Q: next 5 steps? \u003cPRED\u003eA: 1- drop the white box into the box 2- Put the black wire in the box 3- Put the apple in the box 4- Put 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: drop the white box into the box\n\u003c/PRED\u003e","video":"105506750323610563.mp4"}
+{"uid":"10701069390266473982","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pen holder into the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pen holder into the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the pen holder 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 pen holder 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 desk, then place items from the desk into the box. last 20 steps: 1- Open the box 2- Put the yellow packet in the box 3- drop the white box into the box 4- Put the black wire in the box 5- Put the apple in the box 6- Put the bowl in the box 7- Put the marker in the box 8- Put the sponge in the box 9- drop the tissue box into the box Q: immediate next step? \u003cPRED\u003eA: drop the pen holder into the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- Open the box 2- Put the yellow packet in the box 3- drop the white box into the box 4- Put the black wire in the box 5- Put the apple in the box 6- Put the bowl in the box 7- Put the marker in the box 8- Put the sponge in the box 9- drop the tissue box into the box Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pen holder into the box 2- Put the black wire in the box 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: drop the pen holder into the box\n\u003c/PRED\u003e","video":"16622709589753897342.mp4"}
+{"uid":"15249367323278284012","text":"\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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the bowl into the box\n\u003c/PRED\u003e\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:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- Open the box 2- Put the yellow packet in the box 3- drop the white box into the box 4- Put the black wire in the box 5- Put the apple in the box Q: immediate next step? \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 desk, then place items from the desk into the box. last 20 steps: 1- Open the box 2- Put the yellow packet in the box 3- drop the white box into the box 4- Put the black wire in the box 5- Put the apple in the box Q: next 5 steps? \u003cPRED\u003eA: 1- drop the bowl into the box 2- Put the marker in the box 3- Put the sponge in the box 4- drop the tissue box into the box 5- Put the penstand in the 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":"16975639271101957873.mp4"}
+{"uid":"7118075791154008007","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- Open the box 2- Put the yellow packet in the box 3- drop the white box into the box 4- Put the black wire in the box 5- Put the apple in the box 6- Put the bowl in the box 7- Put the marker in the box Q: next 5 steps? \u003cPRED\u003eA: 1- drop the duster into the box 2- drop the tissue box into the box 3- Put the penstand in the box 4- Put the black wire in the box 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: drop the duster into the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- Open the box 2- Put the yellow packet in the box 3- drop the white box into the box 4- Put the black wire in the box 5- Put the apple in the box 6- Put the bowl in the box 7- Put the marker in the box Q: immediate next step? \u003cPRED\u003eA: drop the duster into the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the duster 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 duster into the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the duster into the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the duster 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":"13370026757020015205.mp4"}
+{"uid":"4901315147531610082","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":"3635646775983492278.mp4"}
+{"uid":"1130660309878058322","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":"6541937902940276471.mp4"}
+{"uid":"15417144611799033440","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":"12910314493599249821.mp4"}
+{"uid":"9519755228995011423","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put can in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18000470259224123307.mp4"}
+{"uid":"11744159159128738960","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":"4555833970800595044.mp4"}
+{"uid":"15888595148458368929","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put can in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder. last 20 steps: 1- put can in the stand 2- put can in the stand 3- put can in the stand 4- put can in the stand 5- put can in the stand 6- put can in the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder. last 20 steps: 1- put can in the stand 2- put can in the stand 3- put can in the stand 4- put can in the stand 5- put can in the stand 6- put can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"6035791377995372496.mp4"}
+{"uid":"4351366205121807231","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put straw in dustbin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput straw in dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please gather all the trash on my desk and put them in the big recycle bin. last 20 steps: 1- put cup on table 2- put white cup in cup 3- put cup on dustbin table Q: immediate next step? \u003cPRED\u003eA: put straw in dustbin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please gather all the trash on my desk and put them in the big recycle bin. last 20 steps: 1- put cup on table 2- put white cup in cup 3- put cup on dustbin table Q: next 5 steps? \u003cPRED\u003eA: 1- put straw in dustbin 2- put white cup in dustbin 3- put cup in dustbin 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put straw in dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput straw in dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please gather all the trash on my desk and put them in the big recycle bin Q: immediate next step? \u003cPRED\u003eA: put straw in dustbin\n\u003c/PRED\u003e","video":"5220333590855072394.mp4"}
+{"uid":"16411632671477041668","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder. last 20 steps: 1- put can in the stand 2- put can in the stand Q: immediate next step? \u003cPRED\u003eA: put can in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder Q: immediate next step? \u003cPRED\u003eA: put can in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder. last 20 steps: 1- put can in the stand 2- put can in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put can in the tray 2- put can in the stand 3- put can in the stand 4- put can in the stand 5- done\n\u003c/PRED\u003e","video":"16273122265869554447.mp4"}
+{"uid":"9816865353635931306","text":"\u003ctask:success:discrete:True\u003e\nput cup on dustbin table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put cup on dustbin table\n\u003c/PRED\u003e","video":"11042349030217749749.mp4"}
+{"uid":"18278688438431168492","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput apple on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5828321112670116218.mp4"}
+{"uid":"5024504709036927160","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sticky note 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":"2966606839360034411.mp4"}
+{"uid":"15078123231304579097","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder. last 20 steps: 1- put can in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put can in the stand 2- put can in the stand 3- put can in the stand 4- put can in the stand 5- put can in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put can in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put can in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder Q: immediate next step? \u003cPRED\u003eA: put can in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder. last 20 steps: 1- put can in the stand Q: immediate next step? \u003cPRED\u003eA: put can in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput can in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15155373167988464960.mp4"}
+{"uid":"10689989942948913203","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":"1988481123722028928.mp4"}
+{"uid":"18292458878729111328","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put can in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put can in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put can in the tray 2- put can in the stand 3- put can in the stand 4- put can in the stand 5- put can in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder Q: immediate next step? \u003cPRED\u003eA: put can in the tray\n\u003c/PRED\u003e","video":"13637764760752235210.mp4"}
+{"uid":"1616087880568336380","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":"2522664382740420528.mp4"}
+{"uid":"3464111109921366644","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pen at the corner 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":"1258163062603121352.mp4"}
+{"uid":"9414709836400982306","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder. last 20 steps: 1- put can in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put blue can in tray 2- put can in the stand 3- put can in the stand 4- put can in the stand 5- put can in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder. last 20 steps: 1- put can in the stand Q: immediate next step? \u003cPRED\u003eA: put blue can in tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue can in tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue can in tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder Q: immediate next step? \u003cPRED\u003eA: put blue can in tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue can in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2133811958402281903.mp4"}
+{"uid":"7083224360510425181","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace blue pen inside the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16377656324384000872.mp4"}
+{"uid":"270063115446319528","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put can in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder. last 20 steps: 1- put can in the stand 2- put can in the stand 3- put can in the stand 4- put can in the stand 5- put can in the stand 6- put can in the stand Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput can in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder. last 20 steps: 1- put can in the stand 2- put can in the stand 3- put can in the stand 4- put can in the stand 5- put can in the stand 6- put can in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"1808547778218993169.mp4"}
+{"uid":"10460283451134742559","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":"9907320310511534384.mp4"}
+{"uid":"9894282053257425311","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":"5093796656774832913.mp4"}
+{"uid":"10291216156297686430","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nhang the cap to the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4979004289396755950.mp4"}
+{"uid":"6320868750879333088","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put can in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput can in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put can in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put can in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put can in the stand 2- put can in the stand 3- put can in the stand 4- put can in the stand 5- put can in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput can in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder Q: immediate next step? \u003cPRED\u003eA: put can in the stand\n\u003c/PRED\u003e","video":"10383051097019044717.mp4"}
+{"uid":"8231744093342612682","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put blue can in tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder. last 20 steps: 1- put can in the stand 2- put can in the stand 3- put can in the stand 4- put can in the stand 5- put can in the stand 6- put blue can in tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput blue can in tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder. last 20 steps: 1- put can in the stand 2- put can in the stand 3- put can in the stand 4- put can in the stand 5- put can in the stand 6- put blue can in tray Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"16494956221120074287.mp4"}
+{"uid":"16466933009591444482","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the green packet into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9777524428794077958.mp4"}
+{"uid":"14786759406561123652","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder. last 20 steps: 1- put can in the stand 2- put can in the stand 3- put can in the stand 4- put can in the stand 5- put can in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put can in the tray 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder. last 20 steps: 1- put can in the stand 2- put can in the stand 3- put can in the stand 4- put can in the stand 5- put can in the stand Q: immediate next step? \u003cPRED\u003eA: put can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put can in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder Q: immediate next step? \u003cPRED\u003eA: put can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put can in the tray\n\u003c/PRED\u003e","video":"7114473649396435432.mp4"}
+{"uid":"16761329313539191600","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put can in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15287804340614008608.mp4"}
+{"uid":"9535332759902920026","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put can in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder Q: immediate next step? \u003cPRED\u003eA: put can in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder. last 20 steps: 1- put can in the stand 2- put can in the stand 3- put can in the stand 4- put can in the stand Q: immediate next step? \u003cPRED\u003eA: put can in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder. last 20 steps: 1- put can in the stand 2- put can in the stand 3- put can in the stand 4- put can in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put can in the stand 2- put can in the stand 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput can in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput can in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put can in the stand\n\u003c/PRED\u003e","video":"6193999530020829500.mp4"}
+{"uid":"18279211550113129578","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":"12151710790628045628.mp4"}
+{"uid":"4930651496374401059","text":"\u003ctask:success:discrete:False\u003e\nput blue can in tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put blue can in tray 2- put can in the stand 3- put can in the stand 4- put can in the stand 5- put can in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue can in tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue can in tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder Q: immediate next step? \u003cPRED\u003eA: put blue can in tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue can in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put blue can in tray\n\u003c/PRED\u003e","video":"4700262165104865997.mp4"}
+{"uid":"8539393941176321349","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder. last 20 steps: 1- put can in the stand 2- put can in the stand 3- put can in the stand 4- put can in the stand Q: immediate next step? \u003cPRED\u003eA: put blue can in tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder Q: immediate next step? \u003cPRED\u003eA: put blue can in tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder. last 20 steps: 1- put can in the stand 2- put can in the stand 3- put can in the stand 4- put can in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put blue can in tray 2- put can in the stand 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue can in tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue can in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput blue can in tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue can in tray\n\u003c/PRED\u003e","video":"4763438813222170509.mp4"}
+{"uid":"1672937342458125178","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the lid of 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":"7830203959890664342.mp4"}
+{"uid":"15450548475514774184","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put blue can in tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput blue can in tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17452945293772432972.mp4"}
+{"uid":"4325253606061883511","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder. last 20 steps: 1- put can in the stand 2- put can in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put blue can in tray 2- put can in the stand 3- put can in the stand 4- put can in the stand 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue can in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder. last 20 steps: 1- put can in the stand 2- put can in the stand Q: immediate next step? \u003cPRED\u003eA: put blue can in tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue can in tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder Q: immediate next step? \u003cPRED\u003eA: put blue can in tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue can in tray\n\u003c/PRED\u003e","video":"7724954698726509252.mp4"}
+{"uid":"16992471036969431062","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder. last 20 steps: 1- put can in the stand 2- put can in the stand 3- put can in the stand 4- put can in the stand Q: immediate next step? \u003cPRED\u003eA: put can in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder. last 20 steps: 1- put can in the stand 2- put can in the stand 3- put can in the stand 4- put can in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put can in the tray 2- put can in the stand 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put can in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder Q: immediate next step? \u003cPRED\u003eA: put can in the tray\n\u003c/PRED\u003e","video":"3253718775376650224.mp4"}
+{"uid":"15332833400373329646","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please gather all the trash on my desk and put them in the big recycle bin. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put cup on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please gather all the trash on my desk and put them in the big recycle bin. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put cup on table 2- put white cup in cup 3- put cup on dustbin table 4- put straw in dustbin 5- put white cup in dustbin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put cup on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput 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\u003ctask:planning:freeform\u003e\ncurrent goal is: Please gather all the trash on my desk and put them in the big recycle bin Q: immediate next step? \u003cPRED\u003eA: put cup on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put cup on table\n\u003c/PRED\u003e","video":"2773143635870507754.mp4"}
+{"uid":"18391108345696469277","text":"\u003ctask:success:discrete:True\u003e\nput can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put can in the tray\n\u003c/PRED\u003e","video":"13826680434542584289.mp4"}
+{"uid":"12313550733191776638","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace candy into a brown bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11848585910606587325.mp4"}
+{"uid":"1091211298926755024","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder. last 20 steps: 1- put can in the stand 2- put can in the stand 3- put can in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put can in the stand 2- put can in the stand 3- put can in the stand 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder. last 20 steps: 1- put can in the stand 2- put can in the stand 3- put can in the stand Q: immediate next step? \u003cPRED\u003eA: put can in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput can in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put can in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder Q: immediate next step? \u003cPRED\u003eA: put can in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put can in the stand\n\u003c/PRED\u003e","video":"5157695322798692231.mp4"}
+{"uid":"13240949924040445854","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":"11340982464854825720.mp4"}
+{"uid":"10255941396972633804","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please gather all the trash on my desk and put them in the big recycle bin. last 20 steps: 1- put cup on table Q: next 5 steps? \u003cPRED\u003eA: 1- put white cup in cup 2- put cup on dustbin table 3- put straw in dustbin 4- put white cup in dustbin 5- put cup in dustbin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white cup in cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white cup in cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please gather all the trash on my desk and put them in the big recycle bin. last 20 steps: 1- put cup on table Q: immediate next step? \u003cPRED\u003eA: put white cup in cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput white cup in cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput white cup in cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please gather all the trash on my desk and put them in the big recycle bin Q: immediate next step? \u003cPRED\u003eA: put white cup in cup\n\u003c/PRED\u003e","video":"12205052301041892335.mp4"}
+{"uid":"956673352543775904","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nadjust 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":"1866876466480438708.mp4"}
+{"uid":"10308663355004297859","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put can in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput can in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4831620467393764891.mp4"}
+{"uid":"14208634738804734849","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please gather all the trash on my desk and put them in the big recycle bin Q: immediate next step? \u003cPRED\u003eA: put cup in dustbin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please gather all the trash on my desk and put them in the big recycle bin. last 20 steps: 1- put cup on table 2- put white cup in cup 3- put cup on dustbin table 4- put straw in dustbin 5- put white cup in dustbin Q: immediate next step? \u003cPRED\u003eA: put cup in dustbin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please gather all the trash on my desk and put them in the big recycle bin. last 20 steps: 1- put cup on table 2- put white cup in cup 3- put cup on dustbin table 4- put straw in dustbin 5- put white cup in dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- put cup in dustbin 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put cup in dustbin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput cup in dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put cup in dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput cup in dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18347696654516041247.mp4"}
+{"uid":"912404620520285219","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put can in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput can in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11887808406816357809.mp4"}
+{"uid":"15056014866384201493","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please gather all the trash on my desk and put them in the big recycle bin Q: immediate next step? \u003cPRED\u003eA: put white cup in dustbin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white cup in dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput white cup in dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput white cup in dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please gather all the trash on my desk and put them in the big recycle bin. last 20 steps: 1- put cup on table 2- put white cup in cup 3- put cup on dustbin table 4- put straw in dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- put white cup in dustbin 2- put cup in dustbin 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please gather all the trash on my desk and put them in the big recycle bin. last 20 steps: 1- put cup on table 2- put white cup in cup 3- put cup on dustbin table 4- put straw in dustbin Q: immediate next step? \u003cPRED\u003eA: put white cup in dustbin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white cup in dustbin\n\u003c/PRED\u003e","video":"4076655433968849542.mp4"}
+{"uid":"5404815606540878196","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace a 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":"12271107960746722183.mp4"}
+{"uid":"5689267136221902064","text":"\u003ctask:success:discrete:False\u003e\nput cup on dustbin table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please gather all the trash on my desk and put them in the big recycle bin. last 20 steps: 1- put cup on table 2- put white cup in cup Q: immediate next step? \u003cPRED\u003eA: put cup on dustbin table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please gather all the trash on my desk and put them in the big recycle bin. last 20 steps: 1- put cup on table 2- put white cup in cup Q: next 5 steps? \u003cPRED\u003eA: 1- put cup on dustbin table 2- put straw in dustbin 3- put white cup in dustbin 4- put cup in dustbin 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput cup on dustbin table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 gather all the trash on my desk and put them in the big recycle bin Q: immediate next step? \u003cPRED\u003eA: put cup on dustbin table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put cup on dustbin table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put cup on dustbin table\n\u003c/PRED\u003e","video":"5930409842623465089.mp4"}
+{"uid":"2990513308820908124","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nexit the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8953687670547038015.mp4"}
+{"uid":"8074341563134193359","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder. last 20 steps: 1- put can in the stand 2- put can in the stand 3- put can in the stand Q: immediate next step? \u003cPRED\u003eA: put can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put can in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder. last 20 steps: 1- put can in the stand 2- put can in the stand 3- put can in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put can in the tray 2- put can in the stand 3- put can in the stand 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder Q: immediate next step? \u003cPRED\u003eA: put can in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put can in the tray\n\u003c/PRED\u003e","video":"3155984103402470332.mp4"}
+{"uid":"14591517233767314000","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder Q: immediate next step? \u003cPRED\u003eA: put can in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put can in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put can in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder. last 20 steps: 1- put can in the stand 2- put can in the stand Q: immediate next step? \u003cPRED\u003eA: put can in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder. last 20 steps: 1- put can in the stand 2- put can in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put can in the stand 2- put can in the stand 3- put can in the stand 4- put can in the stand 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput can in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7275328954457920394.mp4"}
+{"uid":"13309114952260703962","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the green candy in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10866714487791635574.mp4"}
+{"uid":"2423300799688598938","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":"7891882280269269495.mp4"}
+{"uid":"6047921706495599643","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue can in tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue can in tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue can in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder. last 20 steps: 1- put can in the stand 2- put can in the stand 3- put can in the stand 4- put can in the stand 5- put can in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put blue can in tray 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder Q: immediate next step? \u003cPRED\u003eA: put blue can in tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder. last 20 steps: 1- put can in the stand 2- put can in the stand 3- put can in the stand 4- put can in the stand 5- put can in the stand Q: immediate next step? \u003cPRED\u003eA: put blue can in tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput blue can in tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5858548968357521495.mp4"}
+{"uid":"13048782317203351931","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue can in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue can in tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder Q: immediate next step? \u003cPRED\u003eA: put blue can in tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder. last 20 steps: 1- put can in the stand 2- put can in the stand 3- put can in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put blue can in tray 2- put can in the stand 3- put can in the stand 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue can in tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder. last 20 steps: 1- put can in the stand 2- put can in the stand 3- put can in the stand Q: immediate next step? \u003cPRED\u003eA: put blue can in tray\n\u003c/PRED\u003e","video":"14043138198212798733.mp4"}
+{"uid":"7493139395716681507","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":"2911786731600881655.mp4"}
+{"uid":"7663943383914142040","text":"\u003ctask:success:discrete:True\u003e\nput can in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put can in the stand\n\u003c/PRED\u003e","video":"11246674502351081067.mp4"}
+{"uid":"1685089584474812967","text":"\u003ctask:success:discrete:True\u003e\nput can in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put can in the stand\n\u003c/PRED\u003e","video":"9066050892804912780.mp4"}
+{"uid":"9365187808125035638","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove towards the left orange 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":"4610463974787209486.mp4"}
+{"uid":"4918576020964908725","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the packet 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":"14374462836471921121.mp4"}
+{"uid":"3164591709045019780","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the pen in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3715552724740726425.mp4"}
+{"uid":"6622901889486103879","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder Q: immediate next step? \u003cPRED\u003eA: put can in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put can in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put can in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder. last 20 steps: 1- put can in the stand 2- put can in the stand 3- put can in the stand 4- put can in the stand 5- put can in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put can in the stand 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput can in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder. last 20 steps: 1- put can in the stand 2- put can in the stand 3- put can in the stand 4- put can in the stand 5- put can in the stand Q: immediate next step? \u003cPRED\u003eA: put can in the stand\n\u003c/PRED\u003e","video":"13089105360386077569.mp4"}
+{"uid":"10646114333504017623","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put can in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder. last 20 steps: 1- put can in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put can in the tray 2- put can in the stand 3- put can in the stand 4- put can in the stand 5- put can in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put can in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder. last 20 steps: 1- put can in the stand Q: immediate next step? \u003cPRED\u003eA: put can in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder Q: immediate next step? \u003cPRED\u003eA: put can in the tray\n\u003c/PRED\u003e","video":"17806189550033925076.mp4"}
+{"uid":"11480865699070637034","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":"4297172619530393826.mp4"}
+{"uid":"3821798653864718895","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":"8606559532770769673.mp4"}
+{"uid":"17228533410239971519","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace yellow candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace yellow candy on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the chips out of the bin. Take the laffy taffy out of the bowls. Take the tongs out of the mesh containers. Q: immediate next step? \u003cPRED\u003eA: place yellow candy on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place yellow candy on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the chips out of the bin. Take the laffy taffy out of the bowls. Take the tongs out of the mesh containers. last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table 6- place the yellow packet on the table 7- place the yellow packet on the table 8- place the white packet on the table 9- place yellow candy on the table 10- place 4 yellow candies on the table Q: immediate next step? \u003cPRED\u003eA: place yellow candy on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place yellow candy on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the chips out of the bin. Take the laffy taffy out of the bowls. Take the tongs out of the mesh containers. last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table 6- place the yellow packet on the table 7- place the yellow packet on the table 8- place the white packet on the table 9- place yellow candy on the table 10- place 4 yellow candies on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place yellow candy on the table 2- place yellow candies on the table 3- place pink candy on the table 4- place 3 green candies on the table 5- place green candy on the table\n\u003c/PRED\u003e","video":"10419609331694915852.mp4"}
+{"uid":"14742535953560111697","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray 5- put packet in the tray 6- put packet in the tray 7- put packet in the tray 8- put packet in the tray Q: immediate next step? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the chips into the basket Q: immediate next step? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray 5- put packet in the tray 6- put packet in the tray 7- put packet in the tray 8- put packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the tray 2- put packet in the tray 3- done\n\u003c/PRED\u003e","video":"10334780401653156589.mp4"}
+{"uid":"14050047708650630427","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick a marker 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":"18014448382060165776.mp4"}
+{"uid":"9470645832927525803","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput spoon in cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4223142659259267604.mp4"}
+{"uid":"16671113546931431740","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the chips out of the bin. Take the laffy taffy out of the bowls. Take the tongs out of the mesh containers. last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the yellow packet on the table 2- place the yellow packet on the table 3- place the white packet on the table 4- place yellow candy on the table 5- place 4 yellow candies on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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: place the yellow packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the chips out of the bin. Take the laffy taffy out of the bowls. Take the tongs out of the mesh containers. last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table Q: immediate next step? \u003cPRED\u003eA: place the yellow packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the yellow packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the chips out of the bin. Take the laffy taffy out of the bowls. Take the tongs out of the mesh containers. Q: immediate next step? \u003cPRED\u003eA: place the yellow packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace 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":"5008066723751032954.mp4"}
+{"uid":"11736592447466338750","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nwipe the board Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13764284674614940385.mp4"}
+{"uid":"7130139468644101246","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray Q: immediate next step? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray 5- put packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the chips into the basket Q: immediate next step? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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":"4421240648593954891.mp4"}
+{"uid":"15951365776674631207","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the chips out of the bin. Take the laffy taffy out of the bowls. Take the tongs out of the mesh containers. Q: immediate next step? \u003cPRED\u003eA: place the white packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the white packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the white 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 white packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the white packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the chips out of the bin. Take the laffy taffy out of the bowls. Take the tongs out of the mesh containers. last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table 6- place the yellow packet on the table 7- place the yellow packet on the table Q: immediate next step? \u003cPRED\u003eA: place the white packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the chips out of the bin. Take the laffy taffy out of the bowls. Take the tongs out of the mesh containers. last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table 6- place the yellow packet on the table 7- place the yellow packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the white packet on the table 2- place yellow candy on the table 3- place 4 yellow candies on the table 4- place yellow candy on the table 5- place yellow candies on the table\n\u003c/PRED\u003e","video":"5668059456003200949.mp4"}
+{"uid":"17872875612193988747","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the glue stick in the white box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1075260287448064507.mp4"}
+{"uid":"12836748582934651712","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sticky note 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":"7395796257444813700.mp4"}
+{"uid":"4499386611291274435","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place 4 yellow candies on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place 4 yellow candies on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the chips out of the bin. Take the laffy taffy out of the bowls. Take the tongs out of the mesh containers. last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table 6- place the yellow packet on the table 7- place the yellow packet on the table 8- place the white packet on the table 9- place yellow candy on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place 4 yellow candies on the table 2- place yellow candy on the table 3- place yellow candies on the table 4- place pink candy on the table 5- place 3 green candies on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the chips out of the bin. Take the laffy taffy out of the bowls. Take the tongs out of the mesh containers. Q: immediate next step? \u003cPRED\u003eA: place 4 yellow candies on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace 4 yellow candies on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED: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 chips out of the bin. Take the laffy taffy out of the bowls. Take the tongs out of the mesh containers. last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table 6- place the yellow packet on the table 7- place the yellow packet on the table 8- place the white packet on the table 9- place yellow candy on the table Q: immediate next step? \u003cPRED\u003eA: place 4 yellow candies on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 4 yellow candies on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11518826843499336736.mp4"}
+{"uid":"4815677535368724132","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack a coffee cup lid Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13505277806142204759.mp4"}
+{"uid":"18397793744774891515","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the 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":"11007854625133823593.mp4"}
+{"uid":"2283052645908061441","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pills 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":"2628160915913842774.mp4"}
+{"uid":"9479675040805053322","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the chips out of the bin. Take the laffy taffy out of the bowls. Take the tongs out of the mesh containers. last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table 6- place the yellow packet on the table 7- place the yellow packet on the table 8- place the white packet on the table 9- place yellow candy on the table 10- place 4 yellow candies on the table 11- place yellow candy on the table 12- place yellow candies on the table 13- place pink candy on the table 14- place 3 green candies on the table 15- place green candy on the table 16- place 2 green candies on the table 17- place green candy on the table 18- place pink candy on the table Q: immediate next step? \u003cPRED\u003eA: put 2 candies on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 2 candies on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\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 2 candies on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED: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 chips out of the bin. Take the laffy taffy out of the bowls. Take the tongs out of the mesh containers. last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table 6- place the yellow packet on the table 7- place the yellow packet on the table 8- place the white packet on the table 9- place yellow candy on the table 10- place 4 yellow candies on the table 11- place yellow candy on the table 12- place yellow candies on the table 13- place pink candy on the table 14- place 3 green candies on the table 15- place green candy on the table 16- place 2 green candies on the table 17- place green candy on the table 18- place pink candy on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put 2 candies on the table 2- place the tong on the table 3- place the tong on the table 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the chips out of the bin. Take the laffy taffy out of the bowls. Take the tongs out of the mesh containers. Q: immediate next step? \u003cPRED\u003eA: put 2 candies on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put 2 candies on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put 2 candies on the table\n\u003c/PRED\u003e","video":"1800499987857973685.mp4"}
+{"uid":"4179679408357201671","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput spoon in the spoon holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"603278422497043362.mp4"}
+{"uid":"11738832000621454500","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the yellow candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15172237826868412022.mp4"}
+{"uid":"5075880770603800025","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray 5- put packet in the tray 6- put packet in the tray 7- put packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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 place the chips into the basket. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray 5- put packet in the tray 6- put packet in the tray 7- put packet in the tray Q: immediate next step? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the chips into the basket Q: immediate next step? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e","video":"14966363256768503043.mp4"}
+{"uid":"5408719123053024836","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the chips out of the bin. Take the laffy taffy out of the bowls. Take the tongs out of the mesh containers. last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table 6- place the yellow packet on the table 7- place the yellow packet on the table 8- place the white packet on the table 9- place yellow candy on the table 10- place 4 yellow candies on the table 11- place yellow candy on the table 12- place yellow candies on the table 13- place pink candy on the table Q: immediate next step? \u003cPRED\u003eA: place 3 green candies on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the chips out of the bin. Take the laffy taffy out of the bowls. Take the tongs out of the mesh containers. last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table 6- place the yellow packet on the table 7- place the yellow packet on the table 8- place the white packet on the table 9- place yellow candy on the table 10- place 4 yellow candies on the table 11- place yellow candy on the table 12- place yellow candies on the table 13- place pink candy on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place 3 green candies on the table 2- place green candy on the table 3- place 2 green candies on the table 4- place green candy on the table 5- place pink candy on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place 3 green candies on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the chips out of the bin. Take the laffy taffy out of the bowls. Take the tongs out of the mesh containers. Q: immediate next step? \u003cPRED\u003eA: place 3 green candies on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 3 green candies on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 3 green candies on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace 3 green candies on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15624780685391893330.mp4"}
+{"uid":"15917953600515261017","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place green candy on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place green candy on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace green candy on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the chips out of the bin. Take the laffy taffy out of the bowls. Take the tongs out of the mesh containers. last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table 6- place the yellow packet on the table 7- place the yellow packet on the table 8- place the white packet on the table 9- place yellow candy on the table 10- place 4 yellow candies on the table 11- place yellow candy on the table 12- place yellow candies on the table 13- place pink candy on the table 14- place 3 green candies on the table 15- place green candy on the table 16- place 2 green candies on the table Q: immediate next step? \u003cPRED\u003eA: place green candy on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace green candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the chips out of the bin. Take the laffy taffy out of the bowls. Take the tongs out of the mesh containers. last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table 6- place the yellow packet on the table 7- place the yellow packet on the table 8- place the white packet on the table 9- place yellow candy on the table 10- place 4 yellow candies on the table 11- place yellow candy on the table 12- place yellow candies on the table 13- place pink candy on the table 14- place 3 green candies on the table 15- place green candy on the table 16- place 2 green candies on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place green candy on the table 2- place pink candy on the table 3- put 2 candies on the table 4- place the tong on the table 5- place the tong on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the chips out of the bin. Take the laffy taffy out of the bowls. Take the tongs out of the mesh containers. Q: immediate next step? \u003cPRED\u003eA: place green candy on the table\n\u003c/PRED\u003e","video":"16401664325126832087.mp4"}
+{"uid":"16130301113374280208","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12352504633339496870.mp4"}
+{"uid":"8559317446031379263","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the chips out of the bin. Take the laffy taffy out of the bowls. Take the tongs out of the mesh containers. last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the chips out of the bin. Take the laffy taffy out of the bowls. Take the tongs out of the mesh containers. Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the chips out of the bin. Take the laffy taffy out of the bowls. Take the tongs out of the mesh containers. last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet on the table 2- place the yellow packet on the table 3- place the yellow packet on the table 4- place the white packet on the table 5- place yellow candy on the table\n\u003c/PRED\u003e","video":"3542621081857083677.mp4"}
+{"uid":"9008473225897355415","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the chips out of the bin. Take the laffy taffy out of the bowls. Take the tongs out of the mesh containers. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the chips out of the bin. Take the laffy taffy out of the bowls. Take the tongs out of the mesh containers. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the chips out of the bin. Take the laffy taffy out of the bowls. Take the tongs out of the mesh containers. Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e","video":"12128580481917354395.mp4"}
+{"uid":"16149732711228868357","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17488253601953065733.mp4"}
+{"uid":"14819331629930820511","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut glasses in a stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11054053135059164888.mp4"}
+{"uid":"7256654922498346027","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the banana 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":"15904618987235559932.mp4"}
+{"uid":"9810926775255509744","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace yellow 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":"3040846970603173982.mp4"}
+{"uid":"3072023643070816122","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput apple 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":"10680872521970123439.mp4"}
+{"uid":"2457432708334083261","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the chips out of the bin. Take the laffy taffy out of the bowls. Take the tongs out of the mesh containers. last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table 6- place the yellow packet on the table 7- place the yellow packet on the table 8- place the white packet on the table 9- place yellow candy on the table 10- place 4 yellow candies on the table 11- place yellow candy on the table 12- place yellow candies on the table 13- place pink candy on the table 14- place 3 green candies on the table 15- place green candy on the table 16- place 2 green candies on the table 17- place green candy on the table 18- place pink candy on the table 19- put 2 candies on the table 20- place the tong on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the tong on the table 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the tong on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the chips out of the bin. Take the laffy taffy out of the bowls. Take the tongs out of the mesh containers. Q: immediate next step? \u003cPRED\u003eA: place the tong on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the chips out of the bin. Take the laffy taffy out of the bowls. Take the tongs out of the mesh containers. last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table 6- place the yellow packet on the table 7- place the yellow packet on the table 8- place the white packet on the table 9- place yellow candy on the table 10- place 4 yellow candies on the table 11- place yellow candy on the table 12- place yellow candies on the table 13- place pink candy on the table 14- place 3 green candies on the table 15- place green candy on the table 16- place 2 green candies on the table 17- place green candy on the table 18- place pink candy on the table 19- put 2 candies on the table 20- place the tong on the table Q: immediate next step? \u003cPRED\u003eA: place the tong on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the tong on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the tong on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2106504231034468024.mp4"}
+{"uid":"1670877041827085353","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the chips out of the bin. Take the laffy taffy out of the bowls. Take the tongs out of the mesh containers. last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table 6- place the yellow packet on the table 7- place the yellow packet on the table 8- place the white packet on the table 9- place yellow candy on the table 10- place 4 yellow candies on the table 11- place yellow candy on the table 12- place yellow candies on the table 13- place pink candy on the table 14- place 3 green candies on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place green candy on the table 2- place 2 green candies on the table 3- place green candy on the table 4- place pink candy on the table 5- put 2 candies on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace green candy on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place green candy on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place green candy on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace green candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the chips out of the bin. Take the laffy taffy out of the bowls. Take the tongs out of the mesh containers. Q: immediate next step? \u003cPRED\u003eA: place green candy on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the chips out of the bin. Take the laffy taffy out of the bowls. Take the tongs out of the mesh containers. last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table 6- place the yellow packet on the table 7- place the yellow packet on the table 8- place the white packet on the table 9- place yellow candy on the table 10- place 4 yellow candies on the table 11- place yellow candy on the table 12- place yellow candies on the table 13- place pink candy on the table 14- place 3 green candies on the table Q: immediate next step? \u003cPRED\u003eA: place green candy on the table\n\u003c/PRED\u003e","video":"8585157873414738161.mp4"}
+{"uid":"4299407906126368282","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace an apple 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":"830166231276436927.mp4"}
+{"uid":"11072963025823784382","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15808644926605286595.mp4"}
+{"uid":"1131596308063912427","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"1111075158530950987.mp4"}
+{"uid":"6995014125676046415","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the chips out of the bin. Take the laffy taffy out of the bowls. Take the tongs out of the mesh containers. Q: immediate next step? \u003cPRED\u003eA: place 2 green candies on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place 2 green candies on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 2 green candies on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 chips out of the bin. Take the laffy taffy out of the bowls. Take the tongs out of the mesh containers. last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table 6- place the yellow packet on the table 7- place the yellow packet on the table 8- place the white packet on the table 9- place yellow candy on the table 10- place 4 yellow candies on the table 11- place yellow candy on the table 12- place yellow candies on the table 13- place pink candy on the table 14- place 3 green candies on the table 15- place green candy on the table Q: immediate next step? \u003cPRED\u003eA: place 2 green candies on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place 2 green candies on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace 2 green candies on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED: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 chips out of the bin. Take the laffy taffy out of the bowls. Take the tongs out of the mesh containers. last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table 6- place the yellow packet on the table 7- place the yellow packet on the table 8- place the white packet on the table 9- place yellow candy on the table 10- place 4 yellow candies on the table 11- place yellow candy on the table 12- place yellow candies on the table 13- place pink candy on the table 14- place 3 green candies on the table 15- place green candy on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place 2 green candies on the table 2- place green candy on the table 3- place pink candy on the table 4- put 2 candies on the table 5- place the tong on the table\n\u003c/PRED\u003e","video":"15681347036406220601.mp4"}
+{"uid":"12233628928909817418","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":"2746838471871701040.mp4"}
+{"uid":"16235231870867477450","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the chips out of the bin. Take the laffy taffy out of the bowls. Take the tongs out of the mesh containers. last 20 steps: 1- place the packet on the table 2- place the packet on the table Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the chips out of the bin. Take the laffy taffy out of the bowls. Take the tongs out of the mesh containers. last 20 steps: 1- place the packet on the table 2- place the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the yellow packet on the table 5- place the yellow packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the chips out of the bin. Take the laffy taffy out of the bowls. Take the tongs out of the mesh containers. Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e","video":"13368689535117661091.mp4"}
+{"uid":"16740174292366781959","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray 5- put packet in the tray Q: immediate next step? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray 5- put packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray 5- put packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the chips into the basket Q: immediate next step? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e","video":"5111300680397163739.mp4"}
+{"uid":"5157791091319017963","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the chips out of the bin. Take the laffy taffy out of the bowls. Take the tongs out of the mesh containers. last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the chips out of the bin. Take the laffy taffy out of the bowls. Take the tongs out of the mesh containers. last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet on the table 2- place the packet on the table 3- place the yellow packet on the table 4- place the yellow packet on the table 5- place the white packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the chips out of the bin. Take the laffy taffy out of the bowls. Take the tongs out of the mesh containers. Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e","video":"10631657676802745326.mp4"}
+{"uid":"17999005287738728506","text":"\u003ctask:success:discrete:False\u003e\nplace the tong on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the chips out of the bin. Take the laffy taffy out of the bowls. Take the tongs out of the mesh containers. last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table 6- place the yellow packet on the table 7- place the yellow packet on the table 8- place the white packet on the table 9- place yellow candy on the table 10- place 4 yellow candies on the table 11- place yellow candy on the table 12- place yellow candies on the table 13- place pink candy on the table 14- place 3 green candies on the table 15- place green candy on the table 16- place 2 green candies on the table 17- place green candy on the table 18- place pink candy on the table 19- put 2 candies on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the tong on the table 2- place the tong on the table 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the chips out of the bin. Take the laffy taffy out of the bowls. Take the tongs out of the mesh containers. Q: immediate next step? \u003cPRED\u003eA: place the tong on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the chips out of the bin. Take the laffy taffy out of the bowls. Take the tongs out of the mesh containers. last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table 6- place the yellow packet on the table 7- place the yellow packet on the table 8- place the white packet on the table 9- place yellow candy on the table 10- place 4 yellow candies on the table 11- place yellow candy on the table 12- place yellow candies on the table 13- place pink candy on the table 14- place 3 green candies on the table 15- place green candy on the table 16- place 2 green candies on the table 17- place green candy on the table 18- place pink candy on the table 19- put 2 candies on the table Q: immediate next step? \u003cPRED\u003eA: place the tong on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the tong on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the tong on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the tong on the table\n\u003c/PRED\u003e","video":"8377577096360450798.mp4"}
+{"uid":"11855276439944455315","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":"4009159761039422677.mp4"}
+{"uid":"8702470597275461587","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop pear 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":"9589742508042315067.mp4"}
+{"uid":"5270432119311310476","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the toy into the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3062898328070614985.mp4"}
+{"uid":"1684246352548986101","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pen in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5092489907715351244.mp4"}
+{"uid":"590139654415438737","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the chips out of the bin. Take the laffy taffy out of the bowls. Take the tongs out of the mesh containers. last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table 6- place the yellow packet on the table Q: immediate next step? \u003cPRED\u003eA: place the yellow packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the chips out of the bin. Take the laffy taffy out of the bowls. Take the tongs out of the mesh containers. Q: immediate next step? \u003cPRED\u003eA: place the yellow packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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: place the yellow packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the chips out of the bin. Take the laffy taffy out of the bowls. Take the tongs out of the mesh containers. last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table 6- place the yellow packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the yellow packet on the table 2- place the white packet on the table 3- place yellow candy on the table 4- place 4 yellow candies on the table 5- place yellow candy on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the yellow packet on the table\n\u003c/PRED\u003e","video":"8887104097867455454.mp4"}
+{"uid":"7739736455893105236","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray 5- put packet in the tray 6- put packet in the tray 7- put packet in the tray 8- put packet in the tray 9- put packet in the tray Q: immediate next step? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray 5- put packet in the tray 6- put packet in the tray 7- put packet in the tray 8- put packet in the tray 9- put packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the tray 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the chips into the basket Q: immediate next step? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e","video":"14872620789178664100.mp4"}
+{"uid":"9985164667215993920","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the metallic gripper 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":"7327816509521460385.mp4"}
+{"uid":"13097149653878540683","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pink candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the chips out of the bin. Take the laffy taffy out of the bowls. Take the tongs out of the mesh containers. last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table 6- place the yellow packet on the table 7- place the yellow packet on the table 8- place the white packet on the table 9- place yellow candy on the table 10- place 4 yellow candies on the table 11- place yellow candy on the table 12- place yellow candies on the table 13- place pink candy on the table 14- place 3 green candies on the table 15- place green candy on the table 16- place 2 green candies on the table 17- place green candy on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place pink candy on the table 2- put 2 candies on the table 3- place the tong on the table 4- place the tong on the table 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace pink candy on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pink candy on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pink candy on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the chips out of the bin. Take the laffy taffy out of the bowls. Take the tongs out of the mesh containers. Q: immediate next step? \u003cPRED\u003eA: place pink candy on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the chips out of the bin. Take the laffy taffy out of the bowls. Take the tongs out of the mesh containers. last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table 6- place the yellow packet on the table 7- place the yellow packet on the table 8- place the white packet on the table 9- place yellow candy on the table 10- place 4 yellow candies on the table 11- place yellow candy on the table 12- place yellow candies on the table 13- place pink candy on the table 14- place 3 green candies on the table 15- place green candy on the table 16- place 2 green candies on the table 17- place green candy on the table Q: immediate next step? \u003cPRED\u003eA: place pink candy on the table\n\u003c/PRED\u003e","video":"4527316062581286449.mp4"}
+{"uid":"6872061101835298550","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the chips out of the bin. Take the laffy taffy out of the bowls. Take the tongs out of the mesh containers. Q: immediate next step? \u003cPRED\u003eA: place yellow candy on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the chips out of the bin. Take the laffy taffy out of the bowls. Take the tongs out of the mesh containers. last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table 6- place the yellow packet on the table 7- place the yellow packet on the table 8- place the white packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place yellow candy on the table 2- place 4 yellow candies on the table 3- place yellow candy on the table 4- place yellow candies on the table 5- place pink candy on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the chips out of the bin. Take the laffy taffy out of the bowls. Take the tongs out of the mesh containers. last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table 6- place the yellow packet on the table 7- place the yellow packet on the table 8- place the white packet on the table Q: immediate next step? \u003cPRED\u003eA: place yellow candy on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place yellow candy on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place yellow candy on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace yellow candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace yellow candy on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1978975494305722193.mp4"}
+{"uid":"16767353920008674702","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":"3240210606361298358.mp4"}
+{"uid":"5393378941077444840","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sticky notes in the glass tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12997178985186414200.mp4"}
+{"uid":"10621040358550102944","text":"\u003ctask:success:discrete:True\u003e\nput packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the chips into the basket Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray 5- put packet in the tray 6- put packet in the tray 7- put packet in the tray 8- put packet in the tray 9- put packet in the tray 10- put packet in the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray 5- put packet in the tray 6- put packet in the tray 7- put packet in the tray 8- put packet in the tray 9- put packet in the tray 10- put packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"8839735567493560103.mp4"}
+{"uid":"5647318453034554522","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the chips out of the bin. Take the laffy taffy out of the bowls. Take the tongs out of the mesh containers. last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table 6- place the yellow packet on the table 7- place the yellow packet on the table 8- place the white packet on the table 9- place yellow candy on the table 10- place 4 yellow candies on the table 11- place yellow candy on the table 12- place yellow candies on the table Q: immediate next step? \u003cPRED\u003eA: place pink candy on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pink candy on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pink candy on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the chips out of the bin. Take the laffy taffy out of the bowls. Take the tongs out of the mesh containers. Q: immediate next step? \u003cPRED\u003eA: place pink candy on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace pink candy on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pink candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the chips out of the bin. Take the laffy taffy out of the bowls. Take the tongs out of the mesh containers. last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table 6- place the yellow packet on the table 7- place the yellow packet on the table 8- place the white packet on the table 9- place yellow candy on the table 10- place 4 yellow candies on the table 11- place yellow candy on the table 12- place yellow candies on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place pink candy on the table 2- place 3 green candies on the table 3- place green candy on the table 4- place 2 green candies on the table 5- place green candy on the table\n\u003c/PRED\u003e","video":"15082288186741149027.mp4"}
+{"uid":"15495023034434643326","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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 place the chips into the basket. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray 5- put packet in the tray 6- put packet in the tray Q: immediate next step? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the chips into the basket Q: immediate next step? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray 5- put packet in the tray 6- put packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e","video":"15136306658518766925.mp4"}
+{"uid":"481001414933790290","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove close to the binder clip Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8774210399153276769.mp4"}
+{"uid":"15727240740989627576","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- put packet in the tray 2- put packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray 5- put packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the chips into the basket Q: immediate next step? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- put packet in the tray 2- put packet in the tray Q: immediate next step? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e","video":"15023615193188498495.mp4"}
+{"uid":"14613439357179610807","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the chips out of the bin. Take the laffy taffy out of the bowls. Take the tongs out of the mesh containers. last 20 steps: 1- place the packet on the table Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the chips out of the bin. Take the laffy taffy out of the bowls. Take the tongs out of the mesh containers. Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the chips out of the bin. Take the laffy taffy out of the bowls. Take the tongs out of the mesh containers. last 20 steps: 1- place the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the yellow packet on the table\n\u003c/PRED\u003e","video":"14706630357638955273.mp4"}
+{"uid":"13577890096842432379","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place yellow candy on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace yellow candy on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13737186625994703379.mp4"}
+{"uid":"3735587469440731981","text":"\u003ctask:success:discrete:False\u003e\nplace yellow candies on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED: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 chips out of the bin. Take the laffy taffy out of the bowls. Take the tongs out of the mesh containers. last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table 6- place the yellow packet on the table 7- place the yellow packet on the table 8- place the white packet on the table 9- place yellow candy on the table 10- place 4 yellow candies on the table 11- place yellow candy on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place yellow candies on the table 2- place pink candy on the table 3- place 3 green candies on the table 4- place green candy on the table 5- place 2 green candies on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place yellow candies on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace yellow candies on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 chips out of the bin. Take the laffy taffy out of the bowls. Take the tongs out of the mesh containers. last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table 6- place the yellow packet on the table 7- place the yellow packet on the table 8- place the white packet on the table 9- place yellow candy on the table 10- place 4 yellow candies on the table 11- place yellow candy on the table Q: immediate next step? \u003cPRED\u003eA: place yellow candies on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place yellow candies on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the chips out of the bin. Take the laffy taffy out of the bowls. Take the tongs out of the mesh containers. Q: immediate next step? \u003cPRED\u003eA: place yellow candies on the table\n\u003c/PRED\u003e","video":"13179134311982067364.mp4"}
+{"uid":"17576221649553357195","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the chips into the basket Q: immediate next step? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray Q: immediate next step? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray 5- put packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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":"8120147123770091837.mp4"}
+{"uid":"7437314474196363218","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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 place the chips into the basket. last 20 steps: 1- put packet in the tray Q: immediate next step? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the chips into the basket Q: immediate next step? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- put packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray 5- put packet in the tray\n\u003c/PRED\u003e","video":"11818513450250246946.mp4"}
+{"uid":"11508573771776630779","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13700877761417199506.mp4"}
+{"uid":"16510776705056255867","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass 4- Unstack a glass 5- Unstack a glass 6- Unstack a bowl 7- Unstack a bowl 8- Unstack a bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange in the bowl 2- Put an orange in an empty bowl 3- Put an orange in an empty bowl 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass 4- Unstack a glass 5- Unstack a glass 6- Unstack a bowl 7- Unstack a bowl 8- Unstack a 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 cups and the bowls, then put one orange into each 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":"2172137501028543096.mp4"}
+{"uid":"11689529233275567775","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass 4- Unstack a glass 5- Unstack a glass 6- Unstack a bowl Q: immediate next step? \u003cPRED\u003eA: Unstack a bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass 4- Unstack a glass 5- Unstack a glass 6- Unstack a bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Unstack a bowl 2- Unstack a bowl 3- Put orange in a bowl 4- Put an orange in an empty bowl 5- Put an orange in an empty bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nUnstack a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Unstack a bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Unstack a bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: Unstack a bowl\n\u003c/PRED\u003e","video":"9667741225528756874.mp4"}
+{"uid":"3340752869765617003","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pink candy in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16375667493813137413.mp4"}
+{"uid":"3519122861335066162","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: unstack a bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nunstack a bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass 4- Unstack a glass 5- Unstack a glass 6- Unstack a bowl Q: immediate next step? \u003cPRED\u003eA: unstack a bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass 4- Unstack a glass 5- Unstack a glass 6- Unstack a bowl Q: next 5 steps? \u003cPRED\u003eA: 1- unstack a bowl 2- Unstack a bowl 3- Put orange in a bowl 4- Put an orange in an empty bowl 5- Put an orange in an empty bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack a bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack a bowl\n\u003c/PRED\u003e","video":"2753040847633557681.mp4"}
+{"uid":"17292080585298504687","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the  Pistachio into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8719216626691015201.mp4"}
+{"uid":"9865045554947245108","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: unstack the bowls\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nunstack the bowls Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"966582686011078357.mp4"}
+{"uid":"16157111901304700602","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the cold brew can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9683809781411503247.mp4"}
+{"uid":"3312709772036358476","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Unstack a bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nUnstack a bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4189078895139984498.mp4"}
+{"uid":"5976081120499192975","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass 4- Unstack a glass 5- Unstack a glass 6- Unstack a bowl 7- Unstack a bowl 8- Unstack a bowl 9- Put orange in a bowl 10- Put an orange in an empty bowl 11- Put an orange in an empty bowl Q: immediate next step? \u003cPRED\u003eA: put the orange in the empty bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass 4- Unstack a glass 5- Unstack a glass 6- Unstack a bowl 7- Unstack a bowl 8- Unstack a bowl 9- Put orange in a bowl 10- Put an orange in an empty bowl 11- Put an orange in an empty bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange in the empty bowl 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange 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:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: put the orange in the empty bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange 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 orange in the empty bowl\n\u003c/PRED\u003e","video":"10527552585299133912.mp4"}
+{"uid":"16111255435975671195","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Unstack a glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass 4- Unstack a glass Q: next 5 steps? \u003cPRED\u003eA: 1- Unstack a glass 2- Unstack a bowl 3- Unstack a bowl 4- Unstack a bowl 5- Put orange in a bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Unstack a glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: Unstack a glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass 4- Unstack a glass Q: immediate next step? \u003cPRED\u003eA: Unstack a glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nUnstack a glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12250626694461828760.mp4"}
+{"uid":"12302823549862301304","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the orange pen into the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12187133669211473690.mp4"}
+{"uid":"3278383004951154516","text":"\u003ctask:success:discrete:False\u003e\nunstack a cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack a cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- unstack a cup 2- Unstack a glass 3- Unstack a glass 4- Unstack a glass 5- Unstack a glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: unstack a cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack a cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: unstack a cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack a cup\n\u003c/PRED\u003e","video":"3172790793867504548.mp4"}
+{"uid":"10749125368211944854","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Unstack a bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: Unstack a bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass 4- Unstack a glass 5- Unstack a glass 6- Unstack a bowl 7- Unstack a bowl Q: immediate next step? \u003cPRED\u003eA: Unstack a bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass 4- Unstack a glass 5- Unstack a glass 6- Unstack a bowl 7- Unstack a bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Unstack a bowl 2- Put orange in a bowl 3- Put an orange in an empty bowl 4- Put an orange in an empty bowl 5- Put an orange in an empty bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Unstack a bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nUnstack a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"624278390728285310.mp4"}
+{"uid":"14280226648820849086","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace a medium size sticky note inside the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4486248032244635893.mp4"}
+{"uid":"8726781474298337997","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: unstack the glasses\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nunstack the glasses Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15279634579022668651.mp4"}
+{"uid":"14187942784658256261","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Unstack a glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nUnstack a 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":"1750729451173165245.mp4"}
+{"uid":"525930978990733615","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Unstack a glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nUnstack a 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":"12294903902771039190.mp4"}
+{"uid":"9711714651853063159","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack a bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass 4- Unstack a glass 5- Unstack a glass 6- Unstack a bowl 7- Unstack a bowl Q: immediate next step? \u003cPRED\u003eA: unstack a bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass 4- Unstack a glass 5- Unstack a glass 6- Unstack a bowl 7- Unstack a bowl Q: next 5 steps? \u003cPRED\u003eA: 1- unstack a bowl 2- Put orange in a bowl 3- Put an orange in an empty bowl 4- Put an orange in an empty bowl 5- Put an orange in an empty bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: unstack a bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack a bowl\n\u003c/PRED\u003e","video":"8238339463916258473.mp4"}
+{"uid":"13952738745128792643","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put an orange in an empty bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass 4- Unstack a glass 5- Unstack a glass 6- Unstack a bowl 7- Unstack a bowl 8- Unstack a bowl 9- Put orange in a bowl 10- Put an orange in an empty bowl 11- Put an orange in an empty bowl 12- Put an orange in an empty 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 cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass 4- Unstack a glass 5- Unstack a glass 6- Unstack a bowl 7- Unstack a bowl 8- Unstack a bowl 9- Put orange in a bowl 10- Put an orange in an empty bowl 11- Put an orange in an empty bowl 12- Put an orange in an empty bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut an orange in an 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":"17266377900775467110.mp4"}
+{"uid":"8055602364716988709","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put an orange in an empty bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: Put an orange in an empty bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut an orange in an 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 an orange in an empty bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut an orange in an 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 cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass 4- Unstack a glass 5- Unstack a glass 6- Unstack a bowl 7- Unstack a bowl 8- Unstack a bowl 9- Put orange in a bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put an orange in an empty bowl 2- Put an orange in an empty bowl 3- Put an orange in an empty bowl 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass 4- Unstack a glass 5- Unstack a glass 6- Unstack a bowl 7- Unstack a bowl 8- Unstack a bowl 9- Put orange in a bowl Q: immediate next step? \u003cPRED\u003eA: Put an orange in an empty bowl\n\u003c/PRED\u003e","video":"12066401980367205242.mp4"}
+{"uid":"996849936767128128","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":"2910857539861567656.mp4"}
+{"uid":"2138328845114301912","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14036968482754287488.mp4"}
+{"uid":"13203073978555641314","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pistachio in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14010805728701436037.mp4"}
+{"uid":"2841646502973056813","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: unstack the glasses\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nunstack the glasses Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13894127083365423879.mp4"}
+{"uid":"14583156963157968837","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: Unstack a glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Unstack a glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass Q: immediate next step? \u003cPRED\u003eA: Unstack a glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Unstack a glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass Q: next 5 steps? \u003cPRED\u003eA: 1- Unstack a glass 2- Unstack a glass 3- Unstack a bowl 4- Unstack a bowl 5- Unstack a bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nUnstack a glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14615039795352902980.mp4"}
+{"uid":"13681277497601400396","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the banana in the pink 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":"10892237779618510122.mp4"}
+{"uid":"14258955167507137002","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrag the paper to the bottom of the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11068369672167445514.mp4"}
+{"uid":"3434674764705819457","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass 4- Unstack a glass 5- Unstack a glass Q: immediate next step? \u003cPRED\u003eA: unstack a bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: unstack a bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass 4- Unstack a glass 5- Unstack a glass Q: next 5 steps? \u003cPRED\u003eA: 1- unstack a bowl 2- Unstack a bowl 3- Unstack a bowl 4- Put orange in a bowl 5- Put an orange in an empty bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack a bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack a bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nunstack a bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12331932406517844903.mp4"}
+{"uid":"17644352354865527703","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put orange in a bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut orange in a bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8692968009335228647.mp4"}
+{"uid":"5672492779714641455","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":"5032380407839618611.mp4"}
+{"uid":"18255068336920665752","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nSlightly move forward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11374693068368768112.mp4"}
+{"uid":"9869149249312333386","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the white packet from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2298738263529633412.mp4"}
+{"uid":"4895089790979714340","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange in the empty bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange in the empty bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange 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:discriminative:discrete:True\u003e\nput the orange 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:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: put the orange in the empty bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass 4- Unstack a glass 5- Unstack a glass 6- Unstack a bowl 7- Unstack a bowl 8- Unstack a bowl Q: immediate next step? \u003cPRED\u003eA: put the orange in the empty bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass 4- Unstack a glass 5- Unstack a glass 6- Unstack a bowl 7- Unstack a bowl 8- Unstack a bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange in the empty bowl 2- Put an orange in an empty bowl 3- Put an orange in an empty bowl 4- done\n\u003c/PRED\u003e","video":"12546270782959199035.mp4"}
+{"uid":"9004488083161001351","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nUnstack a glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Unstack a glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Unstack a glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass Q: next 5 steps? \u003cPRED\u003eA: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass 4- Unstack a bowl 5- Unstack a bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: Unstack a glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass Q: immediate next step? \u003cPRED\u003eA: Unstack a glass\n\u003c/PRED\u003e","video":"8553081883366089635.mp4"}
+{"uid":"7207993567623370799","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put orange in a bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: Put orange in a bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put orange in a bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass 4- Unstack a glass 5- Unstack a glass 6- Unstack a bowl 7- Unstack a bowl 8- Unstack a bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put orange in a bowl 2- Put an orange in an empty bowl 3- Put an orange in an empty bowl 4- Put an orange in an empty bowl 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass 4- Unstack a glass 5- Unstack a glass 6- Unstack a bowl 7- Unstack a bowl 8- Unstack a bowl Q: immediate next step? \u003cPRED\u003eA: Put orange in a bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut orange in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10212387029345239085.mp4"}
+{"uid":"8756831342132840318","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput yellow packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6947256090319857212.mp4"}
+{"uid":"8939680053494995575","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass 4- Unstack a glass 5- Unstack a glass 6- Unstack a bowl 7- Unstack a bowl 8- Unstack a bowl 9- Put orange in a bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange in the empty bowl 2- Put an orange in an empty bowl 3- Put an orange in an empty bowl 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: put the orange in the empty bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass 4- Unstack a glass 5- Unstack a glass 6- Unstack a bowl 7- Unstack a bowl 8- Unstack a bowl 9- Put orange in a bowl Q: immediate next step? \u003cPRED\u003eA: put the orange in the empty bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange 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 orange 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 orange in the empty bowl\n\u003c/PRED\u003e","video":"3085006219840691590.mp4"}
+{"uid":"11294617448481316708","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: unstack a cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass 4- Unstack a glass Q: immediate next step? \u003cPRED\u003eA: unstack a cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass 4- Unstack a glass Q: next 5 steps? \u003cPRED\u003eA: 1- unstack a cup 2- Unstack a bowl 3- Unstack a bowl 4- Unstack a bowl 5- Put orange in a bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack a cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack a cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack a cup\n\u003c/PRED\u003e","video":"4872931213112851596.mp4"}
+{"uid":"13587274495531675468","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nUnstack a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nUnstack a bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass 4- Unstack a glass 5- Unstack a glass Q: next 5 steps? \u003cPRED\u003eA: 1- Unstack a bowl 2- Unstack a bowl 3- Unstack a bowl 4- Put orange in a bowl 5- Put an orange in an empty bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass 4- Unstack a glass 5- Unstack a glass Q: immediate next step? \u003cPRED\u003eA: Unstack a bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Unstack a bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Unstack a bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: Unstack a bowl\n\u003c/PRED\u003e","video":"2987649667090351197.mp4"}
+{"uid":"11770401864061910667","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":"6235452528634298889.mp4"}
+{"uid":"16821874096039295103","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange 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 orange in the empty bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: put the orange in the empty bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass 4- Unstack a glass 5- Unstack a glass 6- Unstack a bowl 7- Unstack a bowl 8- Unstack a bowl 9- Put orange in a bowl 10- Put an orange in an empty bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange in the empty bowl 2- Put an orange in an empty bowl 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass 4- Unstack a glass 5- Unstack a glass 6- Unstack a bowl 7- Unstack a bowl 8- Unstack a bowl 9- Put orange in a bowl 10- Put an orange in an empty bowl Q: immediate next step? \u003cPRED\u003eA: put the orange 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 orange in the empty bowl\n\u003c/PRED\u003e","video":"13183797553378218342.mp4"}
+{"uid":"11841925177939670928","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the trash 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":"3469823249171552924.mp4"}
+{"uid":"2197742017128875175","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the glasses\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: unstack the glasses\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the glasses 2- Unstack a bowl 3- Unstack a bowl 4- Unstack a bowl 5- Put orange in a bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the glasses\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass Q: immediate next step? \u003cPRED\u003eA: unstack the glasses\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack the glasses Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4494737011090951764.mp4"}
+{"uid":"10200012680782499768","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack a cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass Q: immediate next step? \u003cPRED\u003eA: unstack a cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack a cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: unstack a cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack a cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass Q: next 5 steps? \u003cPRED\u003eA: 1- unstack a cup 2- Unstack a glass 3- Unstack a bowl 4- Unstack a bowl 5- Unstack a bowl\n\u003c/PRED\u003e","video":"17189973994302431541.mp4"}
+{"uid":"4925732359591368784","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the chips 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":"16123622440883777329.mp4"}
+{"uid":"18184859246204631441","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: Unstack a glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nUnstack a glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass Q: immediate next step? \u003cPRED\u003eA: Unstack a glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Unstack a glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass Q: next 5 steps? \u003cPRED\u003eA: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass 4- Unstack a glass 5- Unstack a bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Unstack a glass\n\u003c/PRED\u003e","video":"89723947414686181.mp4"}
+{"uid":"10854072888720967577","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass Q: next 5 steps? \u003cPRED\u003eA: 1- unstack a cup 2- Unstack a glass 3- Unstack a glass 4- Unstack a glass 5- Unstack a bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack a cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: unstack a cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass Q: immediate next step? \u003cPRED\u003eA: unstack a cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack a cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack a cup\n\u003c/PRED\u003e","video":"4088058190484531526.mp4"}
+{"uid":"7887283706008037983","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: puit the orange in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass 4- Unstack a glass 5- Unstack a glass 6- Unstack a bowl 7- Unstack a bowl 8- Unstack a bowl 9- Put orange in a bowl 10- Put an orange in an empty bowl Q: immediate next step? \u003cPRED\u003eA: puit the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npuit the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: puit the orange in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npuit the orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: puit the orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass 4- Unstack a glass 5- Unstack a glass 6- Unstack a bowl 7- Unstack a bowl 8- Unstack a bowl 9- Put orange in a bowl 10- Put an orange in an empty bowl Q: next 5 steps? \u003cPRED\u003eA: 1- puit the orange in the bowl 2- done\n\u003c/PRED\u003e","video":"5543458895176693351.mp4"}
+{"uid":"8931794559548665282","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace orange 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":"10719844606970253146.mp4"}
+{"uid":"7933900494861685965","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the brown packet into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5105548602828973314.mp4"}
+{"uid":"7206644480534005384","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the milano dark chocolate 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":"12289144834495779022.mp4"}
+{"uid":"17689588774278123364","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass Q: next 5 steps? \u003cPRED\u003eA: 1- unstack a cup 2- Unstack a glass 3- Unstack a glass 4- Unstack a bowl 5- Unstack a bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: unstack a cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack a cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack a cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack a cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass Q: immediate next step? \u003cPRED\u003eA: unstack a cup\n\u003c/PRED\u003e","video":"4842393338071788686.mp4"}
+{"uid":"1587918215701858453","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nkeep candy 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":"10721901485063552033.mp4"}
+{"uid":"7204998313060693625","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack cup on the top of existing cups Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8166968999657522842.mp4"}
+{"uid":"2550081364655484502","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass 4- Unstack a glass 5- Unstack a glass 6- Unstack a bowl 7- Unstack a bowl 8- Unstack a bowl 9- Put orange in a bowl 10- Put an orange in an empty bowl 11- Put an orange in an empty bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put an orange in an empty bowl 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut an orange in an 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 an orange in an empty bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass 4- Unstack a glass 5- Unstack a glass 6- Unstack a bowl 7- Unstack a bowl 8- Unstack a bowl 9- Put orange in a bowl 10- Put an orange in an empty bowl 11- Put an orange in an empty bowl Q: immediate next step? \u003cPRED\u003eA: Put an orange in an empty bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: Put an orange in an empty bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put an orange in an empty bowl\n\u003c/PRED\u003e","video":"16623408564012986902.mp4"}
+{"uid":"7056804720407306037","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put an orange in an empty bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass 4- Unstack a glass 5- Unstack a glass 6- Unstack a bowl 7- Unstack a bowl 8- Unstack a bowl 9- Put orange in a bowl 10- Put an orange in an empty bowl Q: immediate next step? \u003cPRED\u003eA: Put an orange in an empty bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: Put an orange in an empty bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put an orange in an empty bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass 4- Unstack a glass 5- Unstack a glass 6- Unstack a bowl 7- Unstack a bowl 8- Unstack a bowl 9- Put orange in a bowl 10- Put an orange in an empty bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put an orange in an empty bowl 2- Put an orange in an empty bowl 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut an orange in an 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","video":"17176234205316756061.mp4"}
+{"uid":"1703249085996841834","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass 4- Unstack a glass 5- Unstack a glass 6- Unstack a bowl 7- Unstack a bowl 8- Unstack a bowl 9- Put orange in a bowl 10- Put an orange in an empty bowl 11- Put an orange in an empty 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:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass 4- Unstack a glass 5- Unstack a glass 6- Unstack a bowl 7- Unstack a bowl 8- Unstack a bowl 9- Put orange in a bowl 10- Put an orange in an empty bowl 11- Put an orange in an empty bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange 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 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":"13283001250986868633.mp4"}
+{"uid":"12034879035648887622","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"6813694903995495542.mp4"}
+{"uid":"1048474715801475588","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop orange in a white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1253824986684822137.mp4"}
+{"uid":"10977548375857201675","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput tong in left holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11545403922145878425.mp4"}
+{"uid":"7243249632887572400","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut scoop 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":"9753703560038559177.mp4"}
+{"uid":"9393450938127000172","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the marker in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7735410965802393293.mp4"}
+{"uid":"16390129182871979690","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack the bowls Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass 4- Unstack a glass 5- Unstack a glass Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the bowls 2- Put orange in a bowl 3- Put an orange in an empty bowl 4- Put an orange in an empty bowl 5- Put an orange in an empty bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the bowls\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nunstack the bowls Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED: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 and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass 4- Unstack a glass 5- Unstack a glass Q: immediate next step? \u003cPRED\u003eA: unstack the bowls\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the bowls\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: unstack the bowls\n\u003c/PRED\u003e","video":"5878405924449774448.mp4"}
+{"uid":"8330220462114388062","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack the glasses Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: unstack the glasses\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the glasses\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the glasses 2- Unstack a glass 3- Unstack a glass 4- Unstack a bowl 5- Unstack a bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nunstack the glasses Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED: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 glasses\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: unstack the glasses\n\u003c/PRED\u003e","video":"8525595350053189653.mp4"}
+{"uid":"7214118716530700386","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put orange in a bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass 4- Unstack a glass 5- Unstack a glass 6- Unstack a bowl 7- Unstack a bowl 8- Unstack a bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put orange in a bowl 2- Put an orange in an empty bowl 3- Put an orange in an empty bowl 4- Put an orange in an empty bowl 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: Put orange in a bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put orange in a bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut orange in a bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass 4- Unstack a glass 5- Unstack a glass 6- Unstack a bowl 7- Unstack a bowl 8- Unstack a bowl Q: immediate next step? \u003cPRED\u003eA: Put orange in a bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut orange in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4262171931927009602.mp4"}
+{"uid":"13172209195948976918","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the can into 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":"6430826929839596481.mp4"}
+{"uid":"17619293083628071136","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove the brown bowl beside the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18441090540408168416.mp4"}
+{"uid":"10487479598548234454","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the sanitizer bottle in the black tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15055555343367696389.mp4"}
+{"uid":"2773950610700915345","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the coffee cereal 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":"10939782118827596511.mp4"}
+{"uid":"13599844218255869472","text":"\u003ctask:success:discrete:True\u003e\nput the packet in the bag Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the packet in the bag\n\u003c/PRED\u003e","video":"10337695937078835953.mp4"}
+{"uid":"11720262696202124573","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the wipe Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18404912458907845090.mp4"}
+{"uid":"15188637644792482900","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput black packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16062276242095195367.mp4"}
+{"uid":"10881318888286244044","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the can in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3910962986441119363.mp4"}
+{"uid":"3622699672579682876","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput a yellow packet in the bag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a yellow packet in the bag\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput a yellow packet in the bag Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a yellow packet in the bag\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: hang the bag on the door handle and place the snacks inside it Q: immediate next step? \u003cPRED\u003eA: put a yellow packet in the bag\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: hang the bag on the door handle and place the snacks inside it. last 20 steps: 1- pick up the white bag 2- hang bag to the door handle 3- pick up the brown bag 4- put the brown bag into the white bag Q: immediate next step? \u003cPRED\u003eA: put a yellow packet in the bag\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: hang the bag on the door handle and place the snacks inside it. last 20 steps: 1- pick up the white bag 2- hang bag to the door handle 3- pick up the brown bag 4- put the brown bag into the white bag Q: next 5 steps? \u003cPRED\u003eA: 1- put a yellow packet in the bag 2- done\n\u003c/PRED\u003e","video":"6128729207961134595.mp4"}
+{"uid":"11403958009970078762","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: hang the bag on the door handle and place the snacks inside it Q: immediate next step? \u003cPRED\u003eA: pick up the white bag\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the white bag\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the white bag\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: hang the bag on the door handle and place the snacks inside it. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the white bag 2- hang bag to the door handle 3- pick up the brown bag 4- put the brown bag into the white bag 5- put the corn packet in a bag\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the white bag Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the white bag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: hang the bag on the door handle and place the snacks inside it. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick up the white bag\n\u003c/PRED\u003e","video":"2528557630634512467.mp4"}
+{"uid":"17626937394805795337","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the black pen into the black holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the black pen into the black holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16136795925291497208.mp4"}
+{"uid":"6287684442119659525","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the yellow marker in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop the yellow marker in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11879990555245415288.mp4"}
+{"uid":"629844218613937633","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":"3437926504343058661.mp4"}
+{"uid":"15484633234163957464","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place writing utensils in container. last 20 steps: 1- Move to the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick the yellow marker from the table 2- Pick up the right pen 3- Put it in the holder 4- pick up the pen 5- drop the pen into the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the yellow marker from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the yellow marker from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place writing utensils in container Q: immediate next step? \u003cPRED\u003eA: pick the yellow marker from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the yellow marker from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the yellow marker from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place writing utensils in container. last 20 steps: 1- Move to the table Q: immediate next step? \u003cPRED\u003eA: pick the yellow marker from the table\n\u003c/PRED\u003e","video":"11634872511755368331.mp4"}
+{"uid":"3544593508196315366","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the popcorn 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":"6708166940663262491.mp4"}
+{"uid":"12291286450327340747","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ngo to the right pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place writing utensils in container Q: immediate next step? \u003cPRED\u003eA: go to the right pen on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: go to the right pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: go to the right pen on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place writing utensils in container. last 20 steps: 1- Move to the table 2- Drop the yellow marker in the holder Q: immediate next step? \u003cPRED\u003eA: go to the right pen on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place writing utensils in container. last 20 steps: 1- Move to the table 2- Drop the yellow marker in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- go to the right pen on the table 2- Put it in the holder 3- pick up the pen 4- drop the pen into the holder 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngo to the right pen on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14476446292836413405.mp4"}
+{"uid":"2805105593991056165","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the black box 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":"11805895580445473777.mp4"}
+{"uid":"11865183448593877483","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove to the trash bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12012124572128792929.mp4"}
+{"uid":"9378567323835129204","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the paper holder 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":"1139110255281397009.mp4"}
+{"uid":"3033529924024905745","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: hang the bag on the door handle and place the snacks inside it Q: immediate next step? \u003cPRED\u003eA: put the packet in the bag\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the packet in the bag Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: hang the bag on the door handle and place the snacks inside it. last 20 steps: 1- pick up the white bag 2- hang bag to the door handle 3- pick up the brown bag Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the bag 2- put the corn packet in a bag 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the bag\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the bag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: hang the bag on the door handle and place the snacks inside it. last 20 steps: 1- pick up the white bag 2- hang bag to the door handle 3- pick up the brown bag Q: immediate next step? \u003cPRED\u003eA: put the packet in the bag\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the bag\n\u003c/PRED\u003e","video":"10218669831252311916.mp4"}
+{"uid":"8416309036475982236","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place writing utensils in container. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: move to the yellow marker on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove to the yellow marker on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move to the yellow marker on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move to the yellow marker on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove to the yellow marker on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place writing utensils in container Q: immediate next step? \u003cPRED\u003eA: move to the yellow marker on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place writing utensils in container. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- move to the yellow marker on the table 2- Pick up the right pen 3- Put it in the holder 4- pick up the pen 5- drop the pen into the holder\n\u003c/PRED\u003e","video":"2090645735486399557.mp4"}
+{"uid":"10186742062229961112","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place writing utensils in container Q: immediate next step? \u003cPRED\u003eA: drop the pen into the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the pen into the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place writing utensils in container. last 20 steps: 1- Move to the table 2- Drop the yellow marker in the holder 3- Pick up the right pen 4- Put it in the holder 5- pick up the pen Q: immediate next step? \u003cPRED\u003eA: drop the pen into the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place writing utensils in container. last 20 steps: 1- Move to the table 2- Drop the yellow marker in the holder 3- Pick up the right pen 4- Put it in the holder 5- pick up the pen Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pen into the holder 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pen into the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pen into the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pen into the holder\n\u003c/PRED\u003e","video":"14503265225147456392.mp4"}
+{"uid":"13219526568541610260","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place writing utensils in container. last 20 steps: 1- Move to the table 2- Drop the yellow marker in the holder Q: immediate next step? \u003cPRED\u003eA: pick up the right most pen\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place writing utensils in container. last 20 steps: 1- Move to the table 2- Drop the yellow marker in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the right most pen 2- pick up the pen 3- drop the pen into the holder 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the right most pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the right most pen Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the right most pen\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the right most pen\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place writing utensils in container Q: immediate next step? \u003cPRED\u003eA: pick up the right most pen\n\u003c/PRED\u003e","video":"4960651840783549353.mp4"}
+{"uid":"3810219136162408883","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":"6187827652503076171.mp4"}
+{"uid":"11250099033873725807","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up 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":"6616267291360429366.mp4"}
+{"uid":"5255233269398786886","text":"\u003ctask:success:discrete:True\u003e\nPut it 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 it in the holder\n\u003c/PRED\u003e","video":"16108799610514437777.mp4"}
+{"uid":"3901589670568780840","text":"\u003ctask:success:discrete:True\u003e\nclose the door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e","video":"3267370411858036658.mp4"}
+{"uid":"15615822094502337772","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place writing utensils in container. last 20 steps: 1- Move to the table 2- Drop the yellow marker in the holder 3- Pick up the right pen 4- Put it in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Lift the pen on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nLift the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place writing utensils in container. last 20 steps: 1- Move to the table 2- Drop the yellow marker in the holder 3- Pick up the right pen 4- Put it in the holder Q: immediate next step? \u003cPRED\u003eA: Lift the pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Lift the pen on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Lift the pen on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place writing utensils in container Q: immediate next step? \u003cPRED\u003eA: Lift the pen on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nLift the pen on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17411122017795460468.mp4"}
+{"uid":"846939807566834742","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: hang the bag on the door handle and place the snacks inside it Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the corn packet in a bag Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: hang the bag on the door handle and place the snacks inside it. last 20 steps: 1- pick up the white bag 2- hang bag to the door handle 3- pick up the brown bag 4- put the brown bag into the white bag 5- put the corn packet in a bag Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the corn packet in a bag\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: hang the bag on the door handle and place the snacks inside it. last 20 steps: 1- pick up the white bag 2- hang bag to the door handle 3- pick up the brown bag 4- put the brown bag into the white bag 5- put the corn packet in a bag Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"12971357915377402786.mp4"}
+{"uid":"7976692912869721147","text":"\u003ctask:success:discrete:True\u003e\npick up the pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the pen\n\u003c/PRED\u003e","video":"1610241721581666662.mp4"}
+{"uid":"13582403047795565523","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: hang the bag on the door handle and place the snacks inside it. last 20 steps: 1- pick up the white bag Q: immediate next step? \u003cPRED\u003eA: drop the white bag\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: hang the bag on the door handle and place the snacks inside it Q: immediate next step? \u003cPRED\u003eA: drop the white bag\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the white bag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the white bag\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the white bag\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: hang the bag on the door handle and place the snacks inside it. last 20 steps: 1- pick up the white bag Q: next 5 steps? \u003cPRED\u003eA: 1- drop the white bag 2- pick up the brown bag 3- put the brown bag into the white bag 4- put the corn packet in a bag 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the white bag Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2348682276691044041.mp4"}
+{"uid":"10145495359472395638","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packets in box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6185537742814103554.mp4"}
+{"uid":"466988559527244465","text":"\u003ctask:success:discrete:False\u003e\nPut it 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 it in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place writing utensils in container Q: immediate next step? \u003cPRED\u003eA: Put it in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put it in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place writing utensils in container. last 20 steps: 1- Move to the table 2- Drop the yellow marker in the holder Q: immediate next step? \u003cPRED\u003eA: Put it in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place writing utensils in container. last 20 steps: 1- Move to the table 2- Drop the yellow marker in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put it in the holder 2- pick up the pen 3- drop the pen into the holder 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut it 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":"15385730367037746113.mp4"}
+{"uid":"2123100952826477522","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place writing utensils in container Q: immediate next step? \u003cPRED\u003eA: pick the right pen from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the right pen from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place writing utensils in container. last 20 steps: 1- Move to the table 2- Drop the yellow marker in the holder Q: immediate next step? \u003cPRED\u003eA: pick the right pen from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the right pen from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the right pen from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place writing utensils in container. last 20 steps: 1- Move to the table 2- Drop the yellow marker in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- pick the right pen from the table 2- pick up the pen 3- drop the pen into the holder 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the right pen from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11378395842663432629.mp4"}
+{"uid":"14461565211161093627","text":"\u003ctask:success:discrete:False\u003e\nDrop the yellow marker in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place writing utensils in container. last 20 steps: 1- Move to the table Q: immediate next step? \u003cPRED\u003eA: Drop the yellow marker in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the yellow marker in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the yellow marker in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place writing utensils in container Q: immediate next step? \u003cPRED\u003eA: Drop the yellow marker in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place writing utensils in container. last 20 steps: 1- Move to the table Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the yellow marker in the holder 2- Pick up the right pen 3- Put it in the holder 4- pick up the pen 5- drop the pen into the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the yellow marker in the holder\n\u003c/PRED\u003e","video":"11453711052495613661.mp4"}
+{"uid":"6517805611929337117","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: hang the bag on the door handle and place the snacks inside it Q: immediate next step? \u003cPRED\u003eA: pick up the yellow packet from table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the yellow packet from table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the yellow packet from table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: hang the bag on the door handle and place the snacks inside it. last 20 steps: 1- pick up the white bag 2- hang bag to the door handle 3- pick up the brown bag 4- put the brown bag into the white bag Q: immediate next step? \u003cPRED\u003eA: pick up the yellow packet from table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the yellow packet from table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: hang the bag on the door handle and place the snacks inside it. last 20 steps: 1- pick up the white bag 2- hang bag to the door handle 3- pick up the brown bag 4- put the brown bag into the white bag Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the yellow packet from table 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the yellow packet from table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17676356518051550362.mp4"}
+{"uid":"9951417904443892885","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: go to the pen on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place writing utensils in container. last 20 steps: 1- Move to the table 2- Drop the yellow marker in the holder 3- Pick up the right pen 4- Put it in the holder Q: immediate next step? \u003cPRED\u003eA: go to the pen on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place writing utensils in container. last 20 steps: 1- Move to the table 2- Drop the yellow marker in the holder 3- Pick up the right pen 4- Put it in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- go to the pen on the table 2- drop the pen into the holder 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place writing utensils in container Q: immediate next step? \u003cPRED\u003eA: go to the pen on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngo to the pen on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngo to the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: go to the pen on the table\n\u003c/PRED\u003e","video":"4436635771177017095.mp4"}
+{"uid":"10760292675524339961","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace 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":"6461349544804700421.mp4"}
+{"uid":"12039856688033181434","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: hang the bag on the door handle and place the snacks inside it. last 20 steps: 1- pick up the white bag 2- hang bag to the door handle 3- pick up the brown bag 4- put the brown bag into the white bag Q: immediate next step? \u003cPRED\u003eA: put the corn packet in a bag\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the corn packet in a bag Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the corn packet in a bag\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: hang the bag on the door handle and place the snacks inside it. last 20 steps: 1- pick up the white bag 2- hang bag to the door handle 3- pick up the brown bag 4- put the brown bag into the white bag Q: next 5 steps? \u003cPRED\u003eA: 1- put the corn packet in a bag 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the corn packet in a bag\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the corn packet in a bag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: hang the bag on the door handle and place the snacks inside it Q: immediate next step? \u003cPRED\u003eA: put the corn packet in a bag\n\u003c/PRED\u003e","video":"7544979935527480589.mp4"}
+{"uid":"5187549186186920434","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: hang the bag on the door handle and place the snacks inside it. last 20 steps: 1- pick up the white bag 2- hang bag to the door handle 3- pick up the brown bag 4- put the brown bag into the white bag 5- put a yellow packet in the bag Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: hang the bag on the door handle and place the snacks inside it Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: hang the bag on the door handle and place the snacks inside it. last 20 steps: 1- pick up the white bag 2- hang bag to the door handle 3- pick up the brown bag 4- put the brown bag into the white bag 5- put a yellow packet in the bag 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 yellow packet in the bag\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput a yellow packet in the bag Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3816358045026124377.mp4"}
+{"uid":"12867553843153624104","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":"14474230736492477515.mp4"}
+{"uid":"276434615227148578","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place writing utensils in container Q: immediate next step? \u003cPRED\u003eA: pick the pen from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the pen from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place writing utensils in container. last 20 steps: 1- Move to the table 2- Drop the yellow marker in the holder 3- Pick up the right pen 4- Put it in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- pick the pen from the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the pen from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the pen from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place writing utensils in container. last 20 steps: 1- Move to the table 2- Drop the yellow marker in the holder 3- Pick up the right pen 4- Put it in the holder Q: immediate next step? \u003cPRED\u003eA: pick the pen from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the pen from the table\n\u003c/PRED\u003e","video":"4328284644521762295.mp4"}
+{"uid":"11822738259971069434","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the right most pen\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the right most pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7811496139738054575.mp4"}
+{"uid":"14932583713279881020","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":"16386576751862186031.mp4"}
+{"uid":"8831546038295273374","text":"\u003ctask:success:discrete:True\u003e\ndrop the pen into the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the pen into the holder\n\u003c/PRED\u003e","video":"17501299869873913153.mp4"}
+{"uid":"16494555280085744327","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the forks in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5828931161618676459.mp4"}
+{"uid":"13524930387450952791","text":"\u003ctask:success:discrete:True\u003e\nmove to the yellow marker on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move to the yellow marker on the table\n\u003c/PRED\u003e","video":"17485202933733274363.mp4"}
+{"uid":"10046644243926509529","text":"\u003ctask:success:discrete:True\u003e\nput the brown bag into the white bag Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the brown bag into the white bag\n\u003c/PRED\u003e","video":"9652593033709149281.mp4"}
+{"uid":"1342499896705689480","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the tray to left side on the trolly Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4737249091428577029.mp4"}
+{"uid":"11139226971622818503","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack paper cup 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":"12697922086363463485.mp4"}
+{"uid":"10201074610418319081","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the chilli Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17606085718346851350.mp4"}
+{"uid":"13627572657983208491","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the fork inside the fork holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17774672251324230076.mp4"}
+{"uid":"4746991754134599642","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place writing utensils in container. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: drop the yellow marker into the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place writing utensils in container. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- drop the yellow marker into the holder 2- Pick up the right pen 3- Put it in the holder 4- pick up the pen 5- drop the pen into the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the yellow marker into the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the yellow marker into the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the yellow marker into the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the yellow marker into the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place writing utensils in container Q: immediate next step? \u003cPRED\u003eA: drop the yellow marker into the holder\n\u003c/PRED\u003e","video":"16144506945779068200.mp4"}
+{"uid":"5746172891096414459","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":"17559486312117458276.mp4"}
+{"uid":"2950034171417433306","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":"11238673372963023367.mp4"}
+{"uid":"2908104348377549704","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the brown bag\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: hang the bag on the door handle and place the snacks inside it Q: immediate next step? \u003cPRED\u003eA: pick up the brown bag\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: hang the bag on the door handle and place the snacks inside it. last 20 steps: 1- pick up the white bag 2- hang bag to the door handle Q: immediate next step? \u003cPRED\u003eA: pick up the brown bag\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the brown bag\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: hang the bag on the door handle and place the snacks inside it. last 20 steps: 1- pick up the white bag 2- hang bag to the door handle Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the brown bag 2- put the brown bag into the white bag 3- put the corn packet in a bag 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the brown bag Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the brown bag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17836165630992903018.mp4"}
+{"uid":"13483656610675738751","text":"\u003ctask:success:discrete:True\u003e\nclose the door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Its the end of the day, can you please close all the door to the phone offices. . last 20 steps: 1- close the door 2- close the door 3- close the door Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Its the end of the day, can you please close all the door to the phone offices. . last 20 steps: 1- close the door 2- close the door 3- close the door Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Its the end of the day, can you please close all the door to the phone offices. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"10588675629147074393.mp4"}
+{"uid":"8600732934658360065","text":"\u003ctask:success:discrete:False\u003e\nput the yellow marker into 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: place writing utensils in container Q: immediate next step? \u003cPRED\u003eA: put the yellow marker into the black holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the yellow marker into the black holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place writing utensils in container. last 20 steps: 1- Move to the table Q: immediate next step? \u003cPRED\u003eA: put the yellow marker into the black holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place writing utensils in container. last 20 steps: 1- Move to the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the yellow marker into the black holder 2- Put it in the holder 3- pick up the pen 4- drop the pen into the holder 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the yellow marker into the black holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the yellow marker into the black holder\n\u003c/PRED\u003e","video":"14894050313227765334.mp4"}
+{"uid":"1806247061068134107","text":"\u003ctask:success:discrete:True\u003e\nhang the bag on the door nob Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: hang the bag on the door nob\n\u003c/PRED\u003e","video":"15714891649612089911.mp4"}
+{"uid":"6333664115594099557","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the brown packet in the glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10910483267627843210.mp4"}
+{"uid":"11087526815495575253","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Its the end of the day, can you please close all the door to the phone offices. Q: immediate next step? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Its the end of the day, can you please close all the door to the phone offices. . last 20 steps: 1- close the door Q: next 5 steps? \u003cPRED\u003eA: 1- close the door 2- close the door 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Its the end of the day, can you please close all the door to the phone offices. . last 20 steps: 1- close the door Q: immediate next step? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15907588087407914717.mp4"}
+{"uid":"10698996668639397807","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":"11843070297859417813.mp4"}
+{"uid":"10880047914664073034","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: hang the bag on the door handle and place the snacks inside it. last 20 steps: 1- pick up the white bag 2- hang bag to the door handle 3- pick up the brown bag 4- put the brown bag into the white bag Q: immediate next step? \u003cPRED\u003eA: drop the sweet corn bag into the white bag\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: hang the bag on the door handle and place the snacks inside it Q: immediate next step? \u003cPRED\u003eA: drop the sweet corn bag into the white bag\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the sweet corn bag into the white bag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the sweet corn bag into the white bag\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the sweet corn bag into the white bag\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the sweet corn bag into the white bag Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: hang the bag on the door handle and place the snacks inside it. last 20 steps: 1- pick up the white bag 2- hang bag to the door handle 3- pick up the brown bag 4- put the brown bag into the white bag Q: next 5 steps? \u003cPRED\u003eA: 1- drop the sweet corn bag into the white bag 2- done\n\u003c/PRED\u003e","video":"10994524557126347020.mp4"}
+{"uid":"464244732183259200","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":"17220903538962224741.mp4"}
+{"uid":"6799154449276823053","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the bag from table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: hang the bag on the door handle and place the snacks inside it. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the bag from table 2- hang bag to the door handle 3- pick up the brown bag 4- put the brown bag into the white bag 5- put the corn packet in a bag\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the bag from table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: hang the bag on the door handle and place the snacks inside it Q: immediate next step? \u003cPRED\u003eA: pick up the bag from table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the bag from table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: hang the bag on the door handle and place the snacks inside it. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick up the bag from table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the bag from table\n\u003c/PRED\u003e","video":"2130169899502039713.mp4"}
+{"uid":"14579632437506046946","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the banana Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6822198504873356756.mp4"}
+{"uid":"9857879256195785050","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: hang the bag on the door handle and place the snacks inside it. last 20 steps: 1- pick up the white bag 2- hang bag to the door handle 3- pick up the brown bag 4- put the brown bag into the white bag 5- drop the sweet corn bag into the white bag Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: hang the bag on the door handle and place the snacks inside it. last 20 steps: 1- pick up the white bag 2- hang bag to the door handle 3- pick up the brown bag 4- put the brown bag into the white bag 5- drop the sweet corn bag into the white bag Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the sweet corn bag into the white bag\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: hang the bag on the door handle and place the snacks inside it Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the sweet corn bag into the white bag Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7537298025459032041.mp4"}
+{"uid":"9626425930031425789","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":"13381910314269236603.mp4"}
+{"uid":"6247056260533900121","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":"1042499068176732382.mp4"}
+{"uid":"15241532791597516690","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":"766672852741399856.mp4"}
+{"uid":"11734835669482495541","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the black 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":"10865403267417481903.mp4"}
+{"uid":"12756301720274714372","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Lift the pen on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place writing utensils in container. last 20 steps: 1- Move to the table 2- Drop the yellow marker in the holder 3- Pick up the right pen 4- Put it in the holder 5- Lift the pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place writing utensils in container. last 20 steps: 1- Move to the table 2- Drop the yellow marker in the holder 3- Pick up the right pen 4- Put it in the holder 5- Lift the pen on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place writing utensils in container Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nLift the pen on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13457958621386853864.mp4"}
+{"uid":"12865349865966952863","text":"\u003ctask:success:discrete:True\u003e\nclose the door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e","video":"10442592544566375482.mp4"}
+{"uid":"14687814397545070942","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7035115809661677445.mp4"}
+{"uid":"2802472693442254338","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick a black pebble on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12542236487606270025.mp4"}
+{"uid":"2140148519598445820","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: hang the bag on the door handle and place the snacks inside it. last 20 steps: 1- pick up the white bag Q: immediate next step? \u003cPRED\u003eA: hang bag to the door handle\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nhang bag to the door handle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: hang the bag on the door handle and place the snacks inside it. last 20 steps: 1- pick up the white bag Q: next 5 steps? \u003cPRED\u003eA: 1- hang bag to the door handle 2- pick up the brown bag 3- put the brown bag into the white bag 4- put the corn packet in a bag 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: hang bag to the door handle\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nhang bag to the door handle Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: hang bag to the door handle\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: hang the bag on the door handle and place the snacks inside it Q: immediate next step? \u003cPRED\u003eA: hang bag to the door handle\n\u003c/PRED\u003e","video":"2030862114399510840.mp4"}
+{"uid":"4373773358362124540","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place writing utensils in container. last 20 steps: 1- Move to the table 2- Drop the yellow marker in the holder 3- Pick up the right pen Q: immediate next step? \u003cPRED\u003eA: put the black pen into the black holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place writing utensils in container Q: immediate next step? \u003cPRED\u003eA: put the black pen into the black holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the black pen into the black holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the black pen into the black holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the black pen into 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:success:discrete:False\u003e\nput the black pen into the black holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place writing utensils in container. last 20 steps: 1- Move to the table 2- Drop the yellow marker in the holder 3- Pick up the right pen Q: next 5 steps? \u003cPRED\u003eA: 1- put the black pen into the black holder 2- drop the pen into the holder 3- done\n\u003c/PRED\u003e","video":"12362611807037603950.mp4"}
+{"uid":"17122850382635112132","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Its the end of the day, can you please close all the door to the phone offices. Q: immediate next step? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Its the end of the day, can you please close all the door to the phone offices. . last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- close the door 2- close the door 3- close the door 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Its the end of the day, can you please close all the door to the phone offices. . last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e","video":"16288503692928107361.mp4"}
+{"uid":"14392898791763550509","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the snacks packet in the tray in a queue 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":"17036444801493596534.mp4"}
+{"uid":"8972746045484654520","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the yellow marker in the black holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place writing utensils in container Q: immediate next step? \u003cPRED\u003eA: place the yellow marker in the black holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place writing utensils in container. last 20 steps: 1- Move to the table Q: immediate next step? \u003cPRED\u003eA: place the yellow marker in the black holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the yellow marker in the black holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place writing utensils in container. last 20 steps: 1- Move to the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the yellow marker in the black holder 2- Pick up the right pen 3- Put it in the holder 4- pick up the pen 5- drop the pen into the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the yellow marker in the black holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the yellow marker in the black holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3014264084853896623.mp4"}
+{"uid":"10186971678474616434","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the cup in the third row third column of 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":"13840046114840480741.mp4"}
+{"uid":"7671458934471234119","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput cloth in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2799174315956593914.mp4"}
+{"uid":"12356259093103596859","text":"\u003ctask:success:discrete:True\u003e\nhang bag to the door handle Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: hang bag to the door handle\n\u003c/PRED\u003e","video":"16712049193136397115.mp4"}
+{"uid":"15788488419294627732","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput black 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":"12997660980925409599.mp4"}
+{"uid":"4938980764425015417","text":"\u003ctask:success:discrete:True\u003e\ndrop the yellow marker into the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the yellow marker into the holder\n\u003c/PRED\u003e","video":"5058803212142268859.mp4"}
+{"uid":"9447176611283510104","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: hang the bag on the door handle and place the snacks inside it. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- hang the bag on the door nob 2- pick up the brown bag 3- put the brown bag into the white bag 4- put the corn packet in a bag 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: hang the bag on the door handle and place the snacks inside it Q: immediate next step? \u003cPRED\u003eA: hang the bag on the door nob\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: hang the bag on the door nob\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nhang the bag on the door nob Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nhang the bag on the door nob Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: hang the bag on the door handle and place the snacks inside it. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: hang the bag on the door nob\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: hang the bag on the door nob\n\u003c/PRED\u003e","video":"9745525454908965443.mp4"}
+{"uid":"11946022030591668725","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pen into the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place writing utensils in container Q: immediate next step? \u003cPRED\u003eA: drop the pen into the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the pen into the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place writing utensils in container. last 20 steps: 1- Move to the table 2- Drop the yellow marker in the holder 3- Pick up the right pen Q: immediate next step? \u003cPRED\u003eA: drop the pen into the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place writing utensils in container. last 20 steps: 1- Move to the table 2- Drop the yellow marker in the holder 3- Pick up the right pen Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pen into the holder 2- pick up the pen 3- drop the pen into the holder 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pen into the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pen into the holder\n\u003c/PRED\u003e","video":"12154049417303483969.mp4"}
+{"uid":"11482754991137822856","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":"2710223717920145914.mp4"}
+{"uid":"12660721956829006595","text":"\u003ctask:success:discrete:False\u003e\nput the brown bag into the white bag Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the brown bag into the white bag\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the brown bag into the white bag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: hang the bag on the door handle and place the snacks inside it Q: immediate next step? \u003cPRED\u003eA: put the brown bag into the white bag\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: hang the bag on the door handle and place the snacks inside it. last 20 steps: 1- pick up the white bag 2- hang bag to the door handle 3- pick up the brown bag Q: immediate next step? \u003cPRED\u003eA: put the brown bag into the white bag\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the brown bag into the white bag\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: hang the bag on the door handle and place the snacks inside it. last 20 steps: 1- pick up the white bag 2- hang bag to the door handle 3- pick up the brown bag Q: next 5 steps? \u003cPRED\u003eA: 1- put the brown bag into the white bag 2- put the corn packet in a bag 3- done\n\u003c/PRED\u003e","video":"12323762330402680851.mp4"}
+{"uid":"4092197556619017334","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:planning:freeform\u003e\ncurrent goal is: place writing utensils in container Q: immediate next step? \u003cPRED\u003eA: Move 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place writing utensils in container. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Move to the table 2- Drop the yellow marker in the holder 3- Pick up the right pen 4- Put it in the holder 5- pick up the pen\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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place writing utensils in container. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Move to the table\n\u003c/PRED\u003e","video":"11280127918011236082.mp4"}
+{"uid":"12792215237946325334","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the right pen\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the right pen Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place writing utensils in container. last 20 steps: 1- Move to the table 2- Drop the yellow marker in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the right pen 2- pick up the pen 3- drop the pen into the holder 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the right pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place writing utensils in container. last 20 steps: 1- Move to the table 2- Drop the yellow marker in the holder Q: immediate next step? \u003cPRED\u003eA: Pick up the right pen\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place writing utensils in container Q: immediate next step? \u003cPRED\u003eA: Pick up the right pen\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the right pen\n\u003c/PRED\u003e","video":"10082964921733792840.mp4"}
+{"uid":"14560471511303325380","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nRotate the cup stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11264476490329147716.mp4"}
+{"uid":"7359278276537306935","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Its the end of the day, can you please close all the door to the phone offices. . last 20 steps: 1- close the door 2- close the door Q: next 5 steps? \u003cPRED\u003eA: 1- close the door 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Its the end of the day, can you please close all the door to the phone offices. Q: immediate next step? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Its the end of the day, can you please close all the door to the phone offices. . last 20 steps: 1- close the door 2- close the door Q: immediate next step? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e","video":"16797632264115835334.mp4"}
+{"uid":"13504574481659558250","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove towards a 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":"8843569727403449323.mp4"}
+{"uid":"204952878795064273","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place writing utensils in container. last 20 steps: 1- Move to the table 2- Drop the yellow marker in the holder 3- Pick up the right pen 4- Put it in the holder Q: immediate next step? \u003cPRED\u003eA: pick up the pen\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place writing utensils in container. last 20 steps: 1- Move to the table 2- Drop the yellow marker in the holder 3- Pick up the right pen 4- Put it in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the pen 2- drop the pen into the holder 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the pen\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place writing utensils in container Q: immediate next step? \u003cPRED\u003eA: pick up the pen\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the pen Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the pen\n\u003c/PRED\u003e","video":"4489980487689123946.mp4"}
+{"uid":"18269623757472477107","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":"9504223846607728841.mp4"}
+{"uid":"8863025466058865961","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: hang the bag on the door handle and place the snacks inside it. last 20 steps: 1- pick up the white bag 2- hang bag to the door handle 3- pick up the brown bag 4- put the brown bag into the white bag Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the sweet corn bag 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the sweet corn bag Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: hang the bag on the door handle and place the snacks inside it. last 20 steps: 1- pick up the white bag 2- hang bag to the door handle 3- pick up the brown bag 4- put the brown bag into the white bag Q: immediate next step? \u003cPRED\u003eA: pick up the sweet corn bag\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the sweet corn bag\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the sweet corn bag\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the sweet corn bag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: hang the bag on the door handle and place the snacks inside it Q: immediate next step? \u003cPRED\u003eA: pick up the sweet corn bag\n\u003c/PRED\u003e","video":"4762189714084585720.mp4"}
+{"uid":"8903493053817608052","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place writing utensils in container. last 20 steps: 1- Move to the table 2- Drop the yellow marker in the holder 3- Pick up the right pen 4- Put it in the holder 5- pick up the pen Q: immediate next step? \u003cPRED\u003eA: put the pen into the black holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place writing utensils in container Q: immediate next step? \u003cPRED\u003eA: put the pen into the black holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen into the black holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place writing utensils in container. last 20 steps: 1- Move to the table 2- Drop the yellow marker in the holder 3- Pick up the right pen 4- Put it in the holder 5- pick up the pen Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen into the black holder 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen into the black holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen into the black holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen into 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","video":"4781722784265259639.mp4"}
+{"uid":"17010484487465557329","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the right pen\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the right pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10628343324958060410.mp4"}
+{"uid":"8479783500624511176","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place writing utensils in container. last 20 steps: 1- Move to the table 2- Drop the yellow marker in the holder 3- Pick up the right pen 4- Put it in the holder 5- pick up the pen Q: immediate next step? \u003cPRED\u003eA: Drop it in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop it in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop it 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: place writing utensils in container. last 20 steps: 1- Move to the table 2- Drop the yellow marker in the holder 3- Pick up the right pen 4- Put it in the holder 5- pick up the pen Q: next 5 steps? \u003cPRED\u003eA: 1- Drop it in the holder 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop it in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop it 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: place writing utensils in container Q: immediate next step? \u003cPRED\u003eA: Drop it in the holder\n\u003c/PRED\u003e","video":"598392833519995022.mp4"}
+{"uid":"5363716120905163097","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pen on organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- drop the marker on organizer 2- drop the marker on organizer 3- drop the marker on organizer Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pen on organizer 2- drop the pen on organizer 3- drop the pen on organizer 4- drop the pen on organizer 5- drop the pen on organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. Q: immediate next step? \u003cPRED\u003eA: drop the pen on organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the pen on organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- drop the marker on organizer 2- drop the marker on organizer 3- drop the marker on organizer Q: immediate next step? \u003cPRED\u003eA: drop the pen on organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pen on organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pen on organizer\n\u003c/PRED\u003e","video":"4558616706753837148.mp4"}
+{"uid":"10684213575850116927","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the wipe in dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the wipe in dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you wipe off the mini table?. last 20 steps: 1- pick wipe from wipe packet 2- put the wipe on the table 3- open the tissue Q: immediate next step? \u003cPRED\u003eA: place the wipe in dustbin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you wipe off the mini table? Q: immediate next step? \u003cPRED\u003eA: place the wipe in dustbin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you wipe off the mini table?. last 20 steps: 1- pick wipe from wipe packet 2- put the wipe on the table 3- open the tissue Q: next 5 steps? \u003cPRED\u003eA: 1- place the wipe in dustbin 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the wipe in dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the wipe in dustbin\n\u003c/PRED\u003e","video":"15195479928201163426.mp4"}
+{"uid":"17443457934848827319","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3773638925695502967.mp4"}
+{"uid":"1513261860931400529","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the red packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2836855514854082139.mp4"}
+{"uid":"2876041570987763974","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- drop the marker on organizer 2- drop the pen on organizer 3- drop the pen on organizer 4- drop the pen on organizer 5- drop the pen on organizer 6- drop the pen on organizer 7- drop the pen on organizer 8- drop the pen on organizer 9- drop the pen on organizer 10- drop the sticky notes on organizer 11- drop the sticky notes on organizer 12- drop the binder clips on organizer 13- drop the binder clips on organizer 14- drop the binder clips on organizer 15- drop the binder clips on organizer 16- drop the binder clips on organizer 17- drop the binder clips on organizer 18- drop the binder clips on organizer 19- open the drawer 20- drop the organizer on drawer Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- done\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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- drop the marker on organizer 2- drop the pen on organizer 3- drop the pen on organizer 4- drop the pen on organizer 5- drop the pen on organizer 6- drop the pen on organizer 7- drop the pen on organizer 8- drop the pen on organizer 9- drop the pen on organizer 10- drop the sticky notes on organizer 11- drop the sticky notes on organizer 12- drop the binder clips on organizer 13- drop the binder clips on organizer 14- drop the binder clips on organizer 15- drop the binder clips on organizer 16- drop the binder clips on organizer 17- drop the binder clips on organizer 18- drop the binder clips on organizer 19- open the drawer 20- drop the organizer on drawer Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the organizer in 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:success:discrete:True\u003e\nput the organizer in 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":"10692125326182928841.mp4"}
+{"uid":"1535396668686040246","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the  pen marker in the organizer 2- drop the marker on organizer 3- drop the marker on organizer 4- drop the pen on organizer 5- drop the pen on organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the  pen marker in the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the  pen marker in the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the  pen marker in the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the  pen marker in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the  pen marker in the organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. Q: immediate next step? \u003cPRED\u003eA: put the  pen marker in the organizer\n\u003c/PRED\u003e","video":"11096772113285209238.mp4"}
+{"uid":"18423678139624052160","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the orange in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1373168105232238335.mp4"}
+{"uid":"11367871092854121414","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":"17800974320665949333.mp4"}
+{"uid":"167732806371842381","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the banana on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3163332531360051043.mp4"}
+{"uid":"2513848218967002942","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. Q: immediate next step? \u003cPRED\u003eA: put the  pen marker in the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the  pen marker in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the  pen marker in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the  pen marker in the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- drop the marker on organizer 2- drop the marker on organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the  pen marker in the organizer 2- drop the pen on organizer 3- drop the pen on organizer 4- drop the pen on organizer 5- drop the pen on organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- drop the marker on organizer 2- drop the marker on organizer Q: immediate next step? \u003cPRED\u003eA: put the  pen marker in the organizer\n\u003c/PRED\u003e","video":"7063408815727384382.mp4"}
+{"uid":"3281225204314284854","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pen on organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- drop the marker on organizer 2- drop the marker on organizer 3- drop the marker on organizer 4- drop the pen on organizer Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pen on organizer 2- drop the pen on organizer 3- drop the pen on organizer 4- drop the pen on organizer 5- drop the pen on organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. Q: immediate next step? \u003cPRED\u003eA: drop the pen on organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pen on organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pen on organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- drop the marker on organizer 2- drop the marker on organizer 3- drop the marker on organizer 4- drop the pen on organizer Q: immediate next step? \u003cPRED\u003eA: drop the pen on organizer\n\u003c/PRED\u003e","video":"10863532541860037905.mp4"}
+{"uid":"3989793148061653845","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the purple candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16871546245183797113.mp4"}
+{"uid":"16923899240878751827","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace nut 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":"17206599312336046619.mp4"}
+{"uid":"15485433346789679670","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":"789374070578952238.mp4"}
+{"uid":"14681413773268982869","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- drop the marker on organizer 2- drop the marker on organizer 3- drop the marker on organizer 4- drop the pen on organizer 5- drop the pen on organizer 6- drop the pen on organizer 7- drop the pen on organizer Q: immediate next step? \u003cPRED\u003eA: drop the pen on organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pen on organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- drop the marker on organizer 2- drop the marker on organizer 3- drop the marker on organizer 4- drop the pen on organizer 5- drop the pen on organizer 6- drop the pen on organizer 7- drop the pen on organizer Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pen on organizer 2- drop the pen on organizer 3- drop the pen on organizer 4- drop the pen on organizer 5- drop the sticky notes on organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pen on organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pen on organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. Q: immediate next step? \u003cPRED\u003eA: drop the pen on organizer\n\u003c/PRED\u003e","video":"728853060881112997.mp4"}
+{"uid":"12521744377411718663","text":"\u003ctask:success:discrete:True\u003e\nput book in the shelf Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put book in the shelf\n\u003c/PRED\u003e","video":"10883971012334257926.mp4"}
+{"uid":"7138834731923927849","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pen on organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. Q: immediate next step? \u003cPRED\u003eA: drop the pen on organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pen on organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- drop the marker on organizer 2- drop the marker on organizer 3- drop the marker on organizer 4- drop the pen on organizer 5- drop the pen on organizer 6- drop the pen on organizer Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pen on organizer 2- drop the pen on organizer 3- drop the pen on organizer 4- drop the pen on organizer 5- drop the pen on organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- drop the marker on organizer 2- drop the marker on organizer 3- drop the marker on organizer 4- drop the pen on organizer 5- drop the pen on organizer 6- drop the pen on organizer Q: immediate next step? \u003cPRED\u003eA: drop the pen on organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pen on organizer\n\u003c/PRED\u003e","video":"12222732748510539997.mp4"}
+{"uid":"16829602264291782359","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the green rice chip bag in the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11981998360826680797.mp4"}
+{"uid":"10111309384326845095","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":"12048189207184197869.mp4"}
+{"uid":"11274753479471889615","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":"9565163999316959188.mp4"}
+{"uid":"876674310560141558","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":"3554125626140103758.mp4"}
+{"uid":"8050068247996528172","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the binder clips on organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the binder clips on organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6404351732854833202.mp4"}
+{"uid":"12863502054687555935","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":"15290421293195653548.mp4"}
+{"uid":"2157828580479616084","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- drop the marker on organizer 2- drop the marker on organizer 3- drop the marker on organizer 4- drop the pen on organizer 5- drop the pen on organizer Q: immediate next step? \u003cPRED\u003eA: drop the pen on organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pen on organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pen on organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- drop the marker on organizer 2- drop the marker on organizer 3- drop the marker on organizer 4- drop the pen on organizer 5- drop the pen on organizer Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pen on organizer 2- drop the pen on organizer 3- drop the pen on organizer 4- drop the pen on organizer 5- drop the pen on organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. Q: immediate next step? \u003cPRED\u003eA: drop the pen on organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pen on organizer\n\u003c/PRED\u003e","video":"3025000955527305918.mp4"}
+{"uid":"2798144760186939355","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- drop the marker on organizer 2- drop the marker on organizer 3- drop the marker on organizer 4- drop the pen on organizer 5- drop the pen on organizer 6- drop the pen on organizer 7- drop the pen on organizer 8- drop the pen on organizer 9- drop the pen on organizer 10- drop the pen on organizer 11- drop the pen on organizer 12- drop the sticky notes on organizer 13- drop the sticky notes on organizer 14- drop the binder clips on organizer 15- drop the binder clips on organizer Q: next 5 steps? \u003cPRED\u003eA: 1- drop the binder clips on organizer 2- drop the binder clips on organizer 3- drop the binder clips on organizer 4- drop the binder clips on organizer 5- drop the binder clips on organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the binder clips on organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the binder clips on organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. Q: immediate next step? \u003cPRED\u003eA: drop the binder clips on organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the binder clips on organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- drop the marker on organizer 2- drop the marker on organizer 3- drop the marker on organizer 4- drop the pen on organizer 5- drop the pen on organizer 6- drop the pen on organizer 7- drop the pen on organizer 8- drop the pen on organizer 9- drop the pen on organizer 10- drop the pen on organizer 11- drop the pen on organizer 12- drop the sticky notes on organizer 13- drop the sticky notes on organizer 14- drop the binder clips on organizer 15- drop the binder clips on organizer Q: immediate next step? \u003cPRED\u003eA: drop the binder clips on organizer\n\u003c/PRED\u003e","video":"9845710360617163835.mp4"}
+{"uid":"15163452685720037035","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput spoon in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8112769047267978420.mp4"}
+{"uid":"15439952799397372013","text":"\u003ctask:success:discrete:True\u003e\nopen 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: open the tissue\n\u003c/PRED\u003e","video":"8206103979989821843.mp4"}
+{"uid":"5377689564575042324","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. Q: immediate next step? \u003cPRED\u003eA: put the paper clip in the organizer\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 organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the paper clip in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- drop the marker on organizer 2- drop the marker on organizer 3- drop the marker on organizer 4- drop the pen on organizer 5- drop the pen on organizer 6- drop the pen on organizer 7- drop the pen on organizer 8- drop the pen on organizer 9- drop the pen on organizer 10- drop the pen on organizer 11- drop the pen on organizer 12- drop the sticky notes on organizer 13- drop the sticky notes on organizer 14- drop the binder clips on organizer 15- drop the binder clips on organizer 16- drop the binder clips on organizer 17- drop the binder clips on organizer 18- drop the binder clips on organizer Q: immediate next step? \u003cPRED\u003eA: put the paper clip in the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- drop the marker on organizer 2- drop the marker on organizer 3- drop the marker on organizer 4- drop the pen on organizer 5- drop the pen on organizer 6- drop the pen on organizer 7- drop the pen on organizer 8- drop the pen on organizer 9- drop the pen on organizer 10- drop the pen on organizer 11- drop the pen on organizer 12- drop the sticky notes on organizer 13- drop the sticky notes on organizer 14- drop the binder clips on organizer 15- drop the binder clips on organizer 16- drop the binder clips on organizer 17- drop the binder clips on organizer 18- drop the binder clips on organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the paper clip in the organizer 2- drop the binder clips on organizer 3- open the drawer 4- drop the organizer on drawer 5- close the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the paper clip in the organizer\n\u003c/PRED\u003e","video":"7903876777036635030.mp4"}
+{"uid":"13795787625359727030","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":"10337390341188663875.mp4"}
+{"uid":"4151936239413006938","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the binder clips on organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. Q: immediate next step? \u003cPRED\u003eA: drop the binder clips on organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- drop the marker on organizer 2- drop the marker on organizer 3- drop the marker on organizer 4- drop the pen on organizer 5- drop the pen on organizer 6- drop the pen on organizer 7- drop the pen on organizer 8- drop the pen on organizer 9- drop the pen on organizer 10- drop the pen on organizer 11- drop the pen on organizer 12- drop the sticky notes on organizer 13- drop the sticky notes on organizer 14- drop the binder clips on organizer 15- drop the binder clips on organizer 16- drop the binder clips on organizer 17- drop the binder clips on organizer Q: next 5 steps? \u003cPRED\u003eA: 1- drop the binder clips on organizer 2- drop the binder clips on organizer 3- drop the binder clips on organizer 4- open the drawer 5- drop the organizer on drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the binder clips on organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- drop the marker on organizer 2- drop the marker on organizer 3- drop the marker on organizer 4- drop the pen on organizer 5- drop the pen on organizer 6- drop the pen on organizer 7- drop the pen on organizer 8- drop the pen on organizer 9- drop the pen on organizer 10- drop the pen on organizer 11- drop the pen on organizer 12- drop the sticky notes on organizer 13- drop the sticky notes on organizer 14- drop the binder clips on organizer 15- drop the binder clips on organizer 16- drop the binder clips on organizer 17- drop the binder clips on organizer Q: immediate next step? \u003cPRED\u003eA: drop the binder clips on organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the binder clips on organizer\n\u003c/PRED\u003e","video":"7844236072425813947.mp4"}
+{"uid":"6128694985988693914","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the red pen into the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9190435902999965839.mp4"}
+{"uid":"9729120818360153336","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- drop the marker on organizer 2- drop the marker on organizer 3- drop the marker on organizer 4- drop the pen on organizer 5- drop the pen on organizer 6- drop the pen on organizer 7- drop the pen on organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the  pen in the organizer 2- drop the pen on organizer 3- drop the pen on organizer 4- drop the pen on organizer 5- drop the sticky notes on organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. Q: immediate next step? \u003cPRED\u003eA: put the  pen in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the  pen in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the  pen in the organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- drop the marker on organizer 2- drop the marker on organizer 3- drop the marker on organizer 4- drop the pen on organizer 5- drop the pen on organizer 6- drop the pen on organizer 7- drop the pen on organizer Q: immediate next step? \u003cPRED\u003eA: put the  pen in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the  pen in the organizer\n\u003c/PRED\u003e","video":"14805854117468964709.mp4"}
+{"uid":"13330543082993441174","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- drop the marker on organizer 2- drop the marker on organizer 3- drop the marker on organizer 4- drop the pen on organizer 5- drop the pen on organizer 6- drop the pen on organizer 7- drop the pen on organizer 8- drop the pen on organizer 9- drop the pen on organizer 10- drop the pen on organizer 11- drop the pen on organizer 12- drop the sticky notes on organizer 13- drop the sticky notes on organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the  paper clip in the organizer 2- drop the binder clips on organizer 3- drop the binder clips on organizer 4- drop the binder clips on organizer 5- drop the binder clips on organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- drop the marker on organizer 2- drop the marker on organizer 3- drop the marker on organizer 4- drop the pen on organizer 5- drop the pen on organizer 6- drop the pen on organizer 7- drop the pen on organizer 8- drop the pen on organizer 9- drop the pen on organizer 10- drop the pen on organizer 11- drop the pen on organizer 12- drop the sticky notes on organizer 13- drop the sticky notes on organizer Q: immediate next step? \u003cPRED\u003eA: put the  paper clip in the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the  paper clip in the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. Q: immediate next step? \u003cPRED\u003eA: put the  paper clip in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the  paper clip in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the  paper clip in the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the  paper clip in the organizer\n\u003c/PRED\u003e","video":"15288777504891265082.mp4"}
+{"uid":"7301578956026781592","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the wipe 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":"12901473893121036516.mp4"}
+{"uid":"669023671177327800","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the white pack 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":"14434852295695350152.mp4"}
+{"uid":"13460484109851322335","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: There are some books in the desk can you keep it back organized in bookshelf. last 20 steps: 1- put book in the shelf Q: next 5 steps? \u003cPRED\u003eA: 1- put book in the shelf 2- put book in the shelf 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput book in the shelf Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put book in the shelf\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput book in the shelf Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: There are some books in the desk can you keep it back organized in bookshelf. last 20 steps: 1- put book in the shelf Q: immediate next step? \u003cPRED\u003eA: put book in the shelf\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put book in the shelf\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: There are some books in the desk can you keep it back organized in bookshelf Q: immediate next step? \u003cPRED\u003eA: put book in the shelf\n\u003c/PRED\u003e","video":"8731328602838099459.mp4"}
+{"uid":"2452980610960687036","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the snack-bag 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":"17336220717740751311.mp4"}
+{"uid":"2167929474399860223","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. Q: immediate next step? \u003cPRED\u003eA: put the  pen in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the  pen in the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- drop the marker on organizer 2- drop the marker on organizer 3- drop the marker on organizer 4- drop the pen on organizer 5- drop the pen on organizer 6- drop the pen on organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the  pen in the organizer 2- drop the pen on organizer 3- drop the pen on organizer 4- drop the pen on organizer 5- drop the pen on organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the  pen in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- drop the marker on organizer 2- drop the marker on organizer 3- drop the marker on organizer 4- drop the pen on organizer 5- drop the pen on organizer 6- drop the pen on organizer Q: immediate next step? \u003cPRED\u003eA: put the  pen in the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the  pen in the organizer\n\u003c/PRED\u003e","video":"17060196486810409237.mp4"}
+{"uid":"17770069778452438025","text":"\u003ctask:success:discrete:False\u003e\nopen 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: open the tissue\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the tissue\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen 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: Can you wipe off the mini table?. last 20 steps: 1- pick wipe from wipe packet 2- put the wipe on the table Q: next 5 steps? \u003cPRED\u003eA: 1- open the tissue 2- place the wipe in dustbin 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you wipe off the mini table? Q: immediate next step? \u003cPRED\u003eA: open the tissue\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you wipe off the mini table?. last 20 steps: 1- pick wipe from wipe packet 2- put the wipe on the table Q: immediate next step? \u003cPRED\u003eA: open the tissue\n\u003c/PRED\u003e","video":"5646058541185469141.mp4"}
+{"uid":"13522822955051922279","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the marker on organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. Q: immediate next step? \u003cPRED\u003eA: drop the marker on organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- drop the marker on organizer Q: next 5 steps? \u003cPRED\u003eA: 1- drop the marker on organizer 2- drop the marker on organizer 3- drop the pen on organizer 4- drop the pen on organizer 5- drop the pen on organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the marker on organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- drop the marker on organizer Q: immediate next step? \u003cPRED\u003eA: drop the marker on organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the marker on organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1000152904437665522.mp4"}
+{"uid":"3402851444631363065","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you wipe off the mini table?. last 20 steps: 1- pick wipe from wipe packet Q: next 5 steps? \u003cPRED\u003eA: 1- put the wipe on the table 2- open the tissue 3- place the wipe in dustbin 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the wipe on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you wipe off the mini table? Q: immediate next step? \u003cPRED\u003eA: put the wipe on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the wipe on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the wipe on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the wipe on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you wipe off the mini table?. last 20 steps: 1- pick wipe from wipe packet Q: immediate next step? \u003cPRED\u003eA: put the wipe on the table\n\u003c/PRED\u003e","video":"6635951097970805635.mp4"}
+{"uid":"274049756176601388","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":"497272171482776113.mp4"}
+{"uid":"9170502194914579563","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. Q: immediate next step? \u003cPRED\u003eA: drop the sticky notes on organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the sticky notes on organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the sticky notes on organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- drop the marker on organizer 2- drop the marker on organizer 3- drop the marker on organizer 4- drop the pen on organizer 5- drop the pen on organizer 6- drop the pen on organizer 7- drop the pen on organizer 8- drop the pen on organizer 9- drop the pen on organizer 10- drop the pen on organizer 11- drop the pen on organizer Q: next 5 steps? \u003cPRED\u003eA: 1- drop the sticky notes on organizer 2- drop the sticky notes on organizer 3- drop the binder clips on organizer 4- drop the binder clips on organizer 5- drop the binder clips on organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the sticky notes on organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- drop the marker on organizer 2- drop the marker on organizer 3- drop the marker on organizer 4- drop the pen on organizer 5- drop the pen on organizer 6- drop the pen on organizer 7- drop the pen on organizer 8- drop the pen on organizer 9- drop the pen on organizer 10- drop the pen on organizer 11- drop the pen on organizer Q: immediate next step? \u003cPRED\u003eA: drop the sticky notes on organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the sticky notes on organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17552496341266977498.mp4"}
+{"uid":"8505597715331040732","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- drop the marker on organizer 2- drop the marker on organizer 3- drop the marker on organizer 4- drop the pen on organizer 5- drop the pen on organizer 6- drop the pen on organizer 7- drop the pen on organizer 8- drop the pen on organizer 9- drop the pen on organizer 10- drop the pen on organizer 11- drop the pen on organizer 12- drop the sticky notes on organizer 13- drop the sticky notes on organizer 14- drop the binder clips on organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the paper clip in the organizer 2- drop the binder clips on organizer 3- drop the binder clips on organizer 4- drop the binder clips on organizer 5- drop the binder clips on organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the paper clip in the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the paper clip in the organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. Q: immediate next step? \u003cPRED\u003eA: put the paper clip in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the paper clip in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the paper clip in the organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- drop the marker on organizer 2- drop the marker on organizer 3- drop the marker on organizer 4- drop the pen on organizer 5- drop the pen on organizer 6- drop the pen on organizer 7- drop the pen on organizer 8- drop the pen on organizer 9- drop the pen on organizer 10- drop the pen on organizer 11- drop the pen on organizer 12- drop the sticky notes on organizer 13- drop the sticky notes on organizer 14- drop the binder clips on organizer Q: immediate next step? \u003cPRED\u003eA: put the paper clip in the organizer\n\u003c/PRED\u003e","video":"6455482740689218500.mp4"}
+{"uid":"746910593165030503","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace blackberry hint water bottle 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":"16119395634451997709.mp4"}
+{"uid":"10045343013423850240","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":"8107657938762674624.mp4"}
+{"uid":"17222261660063934726","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the blue 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":"12260704972188204786.mp4"}
+{"uid":"15352092492136013008","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":"16875053057021344766.mp4"}
+{"uid":"1445553353886988375","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the 4th number snookers ball on the snookers board Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14487586544649650526.mp4"}
+{"uid":"4210780435459821539","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. Q: immediate next step? \u003cPRED\u003eA: drop the pen on organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pen on organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pen on organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- drop the marker on organizer 2- drop the marker on organizer 3- drop the marker on organizer 4- drop the pen on organizer 5- drop the pen on organizer 6- drop the pen on organizer 7- drop the pen on organizer 8- drop the pen on organizer 9- drop the pen on organizer 10- drop the pen on organizer Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pen on organizer 2- drop the sticky notes on organizer 3- drop the sticky notes on organizer 4- drop the binder clips on organizer 5- drop the binder clips on organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pen on organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- drop the marker on organizer 2- drop the marker on organizer 3- drop the marker on organizer 4- drop the pen on organizer 5- drop the pen on organizer 6- drop the pen on organizer 7- drop the pen on organizer 8- drop the pen on organizer 9- drop the pen on organizer 10- drop the pen on organizer Q: immediate next step? \u003cPRED\u003eA: drop the pen on organizer\n\u003c/PRED\u003e","video":"7870052789458512442.mp4"}
+{"uid":"10070540268199018380","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":"609384145454990389.mp4"}
+{"uid":"5206757473846627801","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the marker on organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the marker on organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: drop the marker on organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- drop the marker on organizer 2- drop the marker on organizer 3- drop the marker on organizer 4- drop the pen on organizer 5- drop the pen on organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. Q: immediate next step? \u003cPRED\u003eA: drop the marker on organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the marker on organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the marker on organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16898753498401335080.mp4"}
+{"uid":"16068158562609469313","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nturn 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":"14063227714595158516.mp4"}
+{"uid":"8605240485500605411","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the chewing gum 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":"8772644975521414671.mp4"}
+{"uid":"5416188387842906890","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put book in the shelf\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput book in the shelf Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: There are some books in the desk can you keep it back organized in bookshelf. last 20 steps: 1- put book in the shelf 2- put book in the shelf 3- put book in the shelf Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: There are some books in the desk can you keep it back organized in bookshelf Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: There are some books in the desk can you keep it back organized in bookshelf. last 20 steps: 1- put book in the shelf 2- put book in the shelf 3- put book in the shelf Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"13076972263814718019.mp4"}
+{"uid":"17709070380116687983","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- drop the marker on organizer 2- drop the marker on organizer 3- drop the marker on organizer 4- drop the pen on organizer 5- drop the pen on organizer 6- drop the pen on organizer 7- drop the pen on organizer 8- drop the pen on organizer 9- drop the pen on organizer 10- drop the pen on organizer 11- drop the pen on organizer 12- drop the sticky notes on organizer Q: immediate next step? \u003cPRED\u003eA: put the Sticky Notes in the organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. Q: immediate next step? \u003cPRED\u003eA: put the Sticky Notes in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the Sticky Notes in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- drop the marker on organizer 2- drop the marker on organizer 3- drop the marker on organizer 4- drop the pen on organizer 5- drop the pen on organizer 6- drop the pen on organizer 7- drop the pen on organizer 8- drop the pen on organizer 9- drop the pen on organizer 10- drop the pen on organizer 11- drop the pen on organizer 12- drop the sticky notes on organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the Sticky Notes in the organizer 2- drop the binder clips on organizer 3- drop the binder clips on organizer 4- drop the binder clips on organizer 5- drop the binder clips on organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the Sticky Notes in the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the Sticky Notes in the organizer\n\u003c/PRED\u003e","video":"16326447419572526483.mp4"}
+{"uid":"1941143413210158701","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":"5778479941747428000.mp4"}
+{"uid":"17981364977678647425","text":"\u003ctask:success:discrete:False\u003e\nput the  pen in the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- drop the marker on organizer 2- drop the marker on organizer 3- drop the marker on organizer 4- drop the pen on organizer 5- drop the pen on organizer 6- drop the pen on organizer 7- drop the pen on organizer 8- drop the pen on organizer 9- drop the pen on organizer Q: immediate next step? \u003cPRED\u003eA: put the  pen in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the  pen in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. Q: immediate next step? \u003cPRED\u003eA: put the  pen in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the  pen in the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the  pen in the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- drop the marker on organizer 2- drop the marker on organizer 3- drop the marker on organizer 4- drop the pen on organizer 5- drop the pen on organizer 6- drop the pen on organizer 7- drop the pen on organizer 8- drop the pen on organizer 9- drop the pen on organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the  pen in the organizer 2- drop the pen on organizer 3- drop the sticky notes on organizer 4- drop the sticky notes on organizer 5- drop the binder clips on organizer\n\u003c/PRED\u003e","video":"5486446083184079054.mp4"}
+{"uid":"427311101577123769","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- drop the marker on organizer 2- drop the pen on organizer 3- drop the pen on organizer 4- drop the pen on organizer 5- drop the pen on organizer 6- drop the pen on organizer 7- drop the pen on organizer 8- drop the pen on organizer 9- drop the pen on organizer 10- drop the sticky notes on organizer 11- drop the sticky notes on organizer 12- drop the binder clips on organizer 13- drop the binder clips on organizer 14- drop the binder clips on organizer 15- drop the binder clips on organizer 16- drop the binder clips on organizer 17- drop the binder clips on organizer 18- drop the binder clips on organizer 19- open the drawer 20- drop the organizer on drawer Q: immediate next step? \u003cPRED\u003eA: close the Drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. Q: immediate next step? \u003cPRED\u003eA: 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- drop the marker on organizer 2- drop the pen on organizer 3- drop the pen on organizer 4- drop the pen on organizer 5- drop the pen on organizer 6- drop the pen on organizer 7- drop the pen on organizer 8- drop the pen on organizer 9- drop the pen on organizer 10- drop the sticky notes on organizer 11- drop the sticky notes on organizer 12- drop the binder clips on organizer 13- drop the binder clips on organizer 14- drop the binder clips on organizer 15- drop the binder clips on organizer 16- drop the binder clips on organizer 17- drop the binder clips on organizer 18- drop the binder clips on organizer 19- open the drawer 20- drop the organizer on drawer Q: next 5 steps? \u003cPRED\u003eA: 1- close the Drawer 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the Drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the Drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the Drawer\n\u003c/PRED\u003e","video":"4961530975261637630.mp4"}
+{"uid":"14979398977218510356","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the paper clip in the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the paper clip in the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- drop the marker on organizer 2- drop the marker on organizer 3- drop the marker on organizer 4- drop the pen on organizer 5- drop the pen on organizer 6- drop the pen on organizer 7- drop the pen on organizer 8- drop the pen on organizer 9- drop the pen on organizer 10- drop the pen on organizer 11- drop the pen on organizer 12- drop the sticky notes on organizer 13- drop the sticky notes on organizer 14- drop the binder clips on organizer 15- drop the binder clips on organizer 16- drop the binder clips on organizer 17- drop the binder clips on organizer 18- drop the binder clips on organizer 19- drop the binder clips on organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the paper clip in the organizer 2- open the drawer 3- drop the organizer on drawer 4- close the drawer 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the paper clip in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. Q: immediate next step? \u003cPRED\u003eA: put the paper clip in the organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- drop the marker on organizer 2- drop the marker on organizer 3- drop the marker on organizer 4- drop the pen on organizer 5- drop the pen on organizer 6- drop the pen on organizer 7- drop the pen on organizer 8- drop the pen on organizer 9- drop the pen on organizer 10- drop the pen on organizer 11- drop the pen on organizer 12- drop the sticky notes on organizer 13- drop the sticky notes on organizer 14- drop the binder clips on organizer 15- drop the binder clips on organizer 16- drop the binder clips on organizer 17- drop the binder clips on organizer 18- drop the binder clips on organizer 19- drop the binder clips on organizer Q: immediate next step? \u003cPRED\u003eA: put the paper clip in the organizer\n\u003c/PRED\u003e","video":"8623460986263601098.mp4"}
+{"uid":"8822340889898649614","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":"10712639590712770807.mp4"}
+{"uid":"12695896844257406878","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the binder clips on organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the binder clips on organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- drop the marker on organizer 2- drop the marker on organizer 3- drop the marker on organizer 4- drop the pen on organizer 5- drop the pen on organizer 6- drop the pen on organizer 7- drop the pen on organizer 8- drop the pen on organizer 9- drop the pen on organizer 10- drop the pen on organizer 11- drop the pen on organizer 12- drop the sticky notes on organizer 13- drop the sticky notes on organizer 14- drop the binder clips on organizer 15- drop the binder clips on organizer 16- drop the binder clips on organizer 17- drop the binder clips on organizer 18- drop the binder clips on organizer 19- drop the binder clips on organizer Q: immediate next step? \u003cPRED\u003eA: drop the binder clips on organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the binder clips on organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. Q: immediate next step? \u003cPRED\u003eA: drop the binder clips on organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- drop the marker on organizer 2- drop the marker on organizer 3- drop the marker on organizer 4- drop the pen on organizer 5- drop the pen on organizer 6- drop the pen on organizer 7- drop the pen on organizer 8- drop the pen on organizer 9- drop the pen on organizer 10- drop the pen on organizer 11- drop the pen on organizer 12- drop the sticky notes on organizer 13- drop the sticky notes on organizer 14- drop the binder clips on organizer 15- drop the binder clips on organizer 16- drop the binder clips on organizer 17- drop the binder clips on organizer 18- drop the binder clips on organizer 19- drop the binder clips on organizer Q: next 5 steps? \u003cPRED\u003eA: 1- drop the binder clips on organizer 2- open the drawer 3- drop the organizer on drawer 4- close the drawer 5- done\n\u003c/PRED\u003e","video":"4177210135231868093.mp4"}
+{"uid":"18152116586159140373","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the  pen  in the organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. Q: immediate next step? \u003cPRED\u003eA: put the  pen  in the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- drop the marker on organizer 2- drop the marker on organizer 3- drop the marker on organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the  pen  in the organizer 2- drop the pen on organizer 3- drop the pen on organizer 4- drop the pen on organizer 5- drop the pen on organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the  pen  in the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- drop the marker on organizer 2- drop the marker on organizer 3- drop the marker on organizer Q: immediate next step? \u003cPRED\u003eA: put the  pen  in the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the  pen  in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the  pen  in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5323858518044063003.mp4"}
+{"uid":"18305131099240934458","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- drop the marker on organizer 2- drop the marker on organizer Q: immediate next step? \u003cPRED\u003eA: drop the marker on organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. Q: immediate next step? \u003cPRED\u003eA: drop the marker on organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the marker on organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the marker on organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- drop the marker on organizer 2- drop the marker on organizer Q: next 5 steps? \u003cPRED\u003eA: 1- drop the marker on organizer 2- drop the pen on organizer 3- drop the pen on organizer 4- drop the pen on organizer 5- drop the pen on organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the marker on organizer\n\u003c/PRED\u003e","video":"7481252674656621886.mp4"}
+{"uid":"6231245063317026747","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. Q: immediate next step? \u003cPRED\u003eA: put the  pen in the organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- drop the marker on organizer 2- drop the marker on organizer 3- drop the marker on organizer 4- drop the pen on organizer 5- drop the pen on organizer Q: immediate next step? \u003cPRED\u003eA: put the  pen in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the  pen in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- drop the marker on organizer 2- drop the marker on organizer 3- drop the marker on organizer 4- drop the pen on organizer 5- drop the pen on organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the  pen in the organizer 2- drop the pen on organizer 3- drop the pen on organizer 4- drop the pen on organizer 5- drop the pen on organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the  pen in the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the  pen in the organizer\n\u003c/PRED\u003e","video":"2785872345095230527.mp4"}
+{"uid":"2141576579524981859","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the scrubber into the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17552285447267421941.mp4"}
+{"uid":"12230482492105774531","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":"621454177082656389.mp4"}
+{"uid":"4193598489991261662","text":"\u003ctask:success:discrete:True\u003e\nplace the wipe in dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the wipe in dustbin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you wipe off the mini table?. last 20 steps: 1- pick wipe from wipe packet 2- put the wipe on the table 3- open the tissue 4- place the wipe in dustbin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you wipe off the mini table?. last 20 steps: 1- pick wipe from wipe packet 2- put the wipe on the table 3- open the tissue 4- place the wipe in dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you wipe off the mini table? Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"7199045734721961289.mp4"}
+{"uid":"13075530775505440778","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput popcorn packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14191763329783575052.mp4"}
+{"uid":"15581218001997584421","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- drop the marker on organizer 2- drop the marker on organizer 3- drop the marker on organizer 4- drop the pen on organizer 5- drop the pen on organizer 6- drop the pen on organizer 7- drop the pen on organizer 8- drop the pen on organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the  pen in the organizer 2- drop the pen on organizer 3- drop the pen on organizer 4- drop the sticky notes on organizer 5- drop the sticky notes on organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- drop the marker on organizer 2- drop the marker on organizer 3- drop the marker on organizer 4- drop the pen on organizer 5- drop the pen on organizer 6- drop the pen on organizer 7- drop the pen on organizer 8- drop the pen on organizer Q: immediate next step? \u003cPRED\u003eA: put the  pen in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the  pen in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the  pen in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the  pen in the organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. Q: immediate next step? \u003cPRED\u003eA: put the  pen in the organizer\n\u003c/PRED\u003e","video":"480823733036990788.mp4"}
+{"uid":"2318949770218386750","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the binder clips on organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the binder clips on organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. Q: immediate next step? \u003cPRED\u003eA: drop the binder clips on organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- drop the marker on organizer 2- drop the marker on organizer 3- drop the marker on organizer 4- drop the pen on organizer 5- drop the pen on organizer 6- drop the pen on organizer 7- drop the pen on organizer 8- drop the pen on organizer 9- drop the pen on organizer 10- drop the pen on organizer 11- drop the pen on organizer 12- drop the sticky notes on organizer 13- drop the sticky notes on organizer 14- drop the binder clips on organizer 15- drop the binder clips on organizer 16- drop the binder clips on organizer Q: immediate next step? \u003cPRED\u003eA: drop the binder clips on organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the binder clips on organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- drop the marker on organizer 2- drop the marker on organizer 3- drop the marker on organizer 4- drop the pen on organizer 5- drop the pen on organizer 6- drop the pen on organizer 7- drop the pen on organizer 8- drop the pen on organizer 9- drop the pen on organizer 10- drop the pen on organizer 11- drop the pen on organizer 12- drop the sticky notes on organizer 13- drop the sticky notes on organizer 14- drop the binder clips on organizer 15- drop the binder clips on organizer 16- drop the binder clips on organizer Q: next 5 steps? \u003cPRED\u003eA: 1- drop the binder clips on organizer 2- drop the binder clips on organizer 3- drop the binder clips on organizer 4- drop the binder clips on organizer 5- open the drawer\n\u003c/PRED\u003e","video":"3666404155083465162.mp4"}
+{"uid":"16973727220353925087","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the bottom plant 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":"14655765397049129874.mp4"}
+{"uid":"13953406435898477421","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- drop the marker on organizer 2- drop the marker on organizer 3- drop the marker on organizer 4- drop the pen on organizer 5- drop the pen on organizer 6- drop the pen on organizer 7- drop the pen on organizer 8- drop the pen on organizer Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pen on organizer 2- drop the pen on organizer 3- drop the pen on organizer 4- drop the sticky notes on organizer 5- drop the sticky notes on organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- drop the marker on organizer 2- drop the marker on organizer 3- drop the marker on organizer 4- drop the pen on organizer 5- drop the pen on organizer 6- drop the pen on organizer 7- drop the pen on organizer 8- drop the pen on organizer Q: immediate next step? \u003cPRED\u003eA: drop the pen on organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pen on organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pen on organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. Q: immediate next step? \u003cPRED\u003eA: drop the pen on organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pen on organizer\n\u003c/PRED\u003e","video":"17754873188085306005.mp4"}
+{"uid":"1251246785190004173","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ngo straight Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7838281596312296719.mp4"}
+{"uid":"1784852275773963412","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- drop the marker on organizer 2- drop the marker on organizer 3- drop the marker on organizer 4- drop the pen on organizer 5- drop the pen on organizer 6- drop the pen on organizer 7- drop the pen on organizer 8- drop the pen on organizer 9- drop the pen on organizer 10- drop the pen on organizer 11- drop the pen on organizer 12- drop the sticky notes on organizer 13- drop the sticky notes on organizer Q: immediate next step? \u003cPRED\u003eA: drop the binder clips on organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the binder clips on organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. Q: immediate next step? \u003cPRED\u003eA: drop the binder clips on organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the binder clips on organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the binder clips on organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the binder clips on organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- drop the marker on organizer 2- drop the marker on organizer 3- drop the marker on organizer 4- drop the pen on organizer 5- drop the pen on organizer 6- drop the pen on organizer 7- drop the pen on organizer 8- drop the pen on organizer 9- drop the pen on organizer 10- drop the pen on organizer 11- drop the pen on organizer 12- drop the sticky notes on organizer 13- drop the sticky notes on organizer Q: next 5 steps? \u003cPRED\u003eA: 1- drop the binder clips on organizer 2- drop the binder clips on organizer 3- drop the binder clips on organizer 4- drop the binder clips on organizer 5- drop the binder clips on organizer\n\u003c/PRED\u003e","video":"7933167045999489891.mp4"}
+{"uid":"924269202060362293","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace sugar packets in an 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":"14289498731994599017.mp4"}
+{"uid":"6689377997474692992","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the brown belt from the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8735706830337859810.mp4"}
+{"uid":"9684801441290658636","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- drop the marker on organizer 2- drop the marker on organizer 3- drop the marker on organizer 4- drop the pen on organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the  pen in the organizer 2- drop the pen on organizer 3- drop the pen on organizer 4- drop the pen on organizer 5- drop the pen on organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. Q: immediate next step? \u003cPRED\u003eA: put the  pen in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the  pen in the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the  pen in the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- drop the marker on organizer 2- drop the marker on organizer 3- drop the marker on organizer 4- drop the pen on organizer Q: immediate next step? \u003cPRED\u003eA: put the  pen in the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the  pen in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the  pen in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3395248731701560244.mp4"}
+{"uid":"2833588518417528495","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":"15268692121704958254.mp4"}
+{"uid":"15298925827700365966","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the chocolate in the brown 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":"16278926671719478436.mp4"}
+{"uid":"5827603426204878105","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the yellow 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":"4677352838520025681.mp4"}
+{"uid":"10766378598406575722","text":"\u003ctask:success:discrete:False\u003e\nput the organizer in the Drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. Q: immediate next step? \u003cPRED\u003eA: put the organizer in the Drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the organizer in the Drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- drop the marker on organizer 2- drop the marker on organizer 3- drop the pen on organizer 4- drop the pen on organizer 5- drop the pen on organizer 6- drop the pen on organizer 7- drop the pen on organizer 8- drop the pen on organizer 9- drop the pen on organizer 10- drop the pen on organizer 11- drop the sticky notes on organizer 12- drop the sticky notes on organizer 13- drop the binder clips on organizer 14- drop the binder clips on organizer 15- drop the binder clips on organizer 16- drop the binder clips on organizer 17- drop the binder clips on organizer 18- drop the binder clips on organizer 19- drop the binder clips on organizer 20- open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put the organizer in the Drawer 2- close the drawer 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the organizer in the Drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- drop the marker on organizer 2- drop the marker on organizer 3- drop the pen on organizer 4- drop the pen on organizer 5- drop the pen on organizer 6- drop the pen on organizer 7- drop the pen on organizer 8- drop the pen on organizer 9- drop the pen on organizer 10- drop the pen on organizer 11- drop the sticky notes on organizer 12- drop the sticky notes on organizer 13- drop the binder clips on organizer 14- drop the binder clips on organizer 15- drop the binder clips on organizer 16- drop the binder clips on organizer 17- drop the binder clips on organizer 18- drop the binder clips on organizer 19- drop the binder clips on organizer 20- open the drawer Q: immediate next step? \u003cPRED\u003eA: put the organizer in the Drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the organizer in the Drawer\n\u003c/PRED\u003e","video":"5633314850243822040.mp4"}
+{"uid":"8864022572252534114","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the organizer on drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. Q: immediate next step? \u003cPRED\u003eA: drop the organizer on drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- drop the marker on organizer 2- drop the marker on organizer 3- drop the pen on organizer 4- drop the pen on organizer 5- drop the pen on organizer 6- drop the pen on organizer 7- drop the pen on organizer 8- drop the pen on organizer 9- drop the pen on organizer 10- drop the pen on organizer 11- drop the sticky notes on organizer 12- drop the sticky notes on organizer 13- drop the binder clips on organizer 14- drop the binder clips on organizer 15- drop the binder clips on organizer 16- drop the binder clips on organizer 17- drop the binder clips on organizer 18- drop the binder clips on organizer 19- drop the binder clips on organizer 20- open the drawer Q: immediate next step? \u003cPRED\u003eA: drop the organizer on drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the organizer on 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: drop the organizer on drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- drop the marker on organizer 2- drop the marker on organizer 3- drop the pen on organizer 4- drop the pen on organizer 5- drop the pen on organizer 6- drop the pen on organizer 7- drop the pen on organizer 8- drop the pen on organizer 9- drop the pen on organizer 10- drop the pen on organizer 11- drop the sticky notes on organizer 12- drop the sticky notes on organizer 13- drop the binder clips on organizer 14- drop the binder clips on organizer 15- drop the binder clips on organizer 16- drop the binder clips on organizer 17- drop the binder clips on organizer 18- drop the binder clips on organizer 19- drop the binder clips on organizer 20- open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- drop the organizer on drawer 2- close the drawer 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the organizer on drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3867623471158381153.mp4"}
+{"uid":"17355325609818373400","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":"1072270478517587431.mp4"}
+{"uid":"18371378865832758718","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace green packet in right white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9504137806872428702.mp4"}
+{"uid":"10239100942546146461","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. Q: immediate next step? \u003cPRED\u003eA: 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the Drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- drop the marker on organizer 2- drop the marker on organizer 3- drop the marker on organizer 4- drop the pen on organizer 5- drop the pen on organizer 6- drop the pen on organizer 7- drop the pen on organizer 8- drop the pen on organizer 9- drop the pen on organizer 10- drop the pen on organizer 11- drop the pen on organizer 12- drop the sticky notes on organizer 13- drop the sticky notes on organizer 14- drop the binder clips on organizer 15- drop the binder clips on organizer 16- drop the binder clips on organizer 17- drop the binder clips on organizer 18- drop the binder clips on organizer 19- drop the binder clips on organizer 20- drop the binder clips on organizer Q: next 5 steps? \u003cPRED\u003eA: 1- open the Drawer 2- drop the organizer on drawer 3- close the drawer 4- done\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: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- drop the marker on organizer 2- drop the marker on organizer 3- drop the marker on organizer 4- drop the pen on organizer 5- drop the pen on organizer 6- drop the pen on organizer 7- drop the pen on organizer 8- drop the pen on organizer 9- drop the pen on organizer 10- drop the pen on organizer 11- drop the pen on organizer 12- drop the sticky notes on organizer 13- drop the sticky notes on organizer 14- drop the binder clips on organizer 15- drop the binder clips on organizer 16- drop the binder clips on organizer 17- drop the binder clips on organizer 18- drop the binder clips on organizer 19- drop the binder clips on organizer 20- drop the binder clips on organizer Q: immediate next step? \u003cPRED\u003eA: open the Drawer\n\u003c/PRED\u003e","video":"7131169538754171038.mp4"}
+{"uid":"2021155335421938277","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- drop the marker on organizer 2- drop the marker on organizer 3- drop the marker on organizer 4- drop the pen on organizer 5- drop the pen on organizer 6- drop the pen on organizer 7- drop the pen on organizer 8- drop the pen on organizer 9- drop the pen on organizer 10- drop the pen on organizer 11- drop the pen on organizer 12- drop the sticky notes on organizer Q: immediate next step? \u003cPRED\u003eA: drop the sticky notes on organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the sticky notes on organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the sticky notes on organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the sticky notes on organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- drop the marker on organizer 2- drop the marker on organizer 3- drop the marker on organizer 4- drop the pen on organizer 5- drop the pen on organizer 6- drop the pen on organizer 7- drop the pen on organizer 8- drop the pen on organizer 9- drop the pen on organizer 10- drop the pen on organizer 11- drop the pen on organizer 12- drop the sticky notes on organizer Q: next 5 steps? \u003cPRED\u003eA: 1- drop the sticky notes on organizer 2- drop the binder clips on organizer 3- drop the binder clips on organizer 4- drop the binder clips on organizer 5- drop the binder clips on organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. Q: immediate next step? \u003cPRED\u003eA: drop the sticky notes on organizer\n\u003c/PRED\u003e","video":"2001287020666431707.mp4"}
+{"uid":"7073761446135946937","text":"\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:planning:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- drop the marker on organizer 2- drop the marker on organizer 3- drop the marker on organizer 4- drop the pen on organizer 5- drop the pen on organizer 6- drop the pen on organizer 7- drop the pen on organizer 8- drop the pen on organizer 9- drop the pen on organizer 10- drop the pen on organizer 11- drop the pen on organizer 12- drop the sticky notes on organizer 13- drop the sticky notes on organizer 14- drop the binder clips on organizer 15- drop the binder clips on organizer 16- drop the binder clips on organizer 17- drop the binder clips on organizer 18- drop the binder clips on organizer 19- drop the binder clips on organizer 20- drop the binder clips on organizer Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- drop the organizer on drawer 3- close the drawer 4- done\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: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- drop the marker on organizer 2- drop the marker on organizer 3- drop the marker on organizer 4- drop the pen on organizer 5- drop the pen on organizer 6- drop the pen on organizer 7- drop the pen on organizer 8- drop the pen on organizer 9- drop the pen on organizer 10- drop the pen on organizer 11- drop the pen on organizer 12- drop the sticky notes on organizer 13- drop the sticky notes on organizer 14- drop the binder clips on organizer 15- drop the binder clips on organizer 16- drop the binder clips on organizer 17- drop the binder clips on organizer 18- drop the binder clips on organizer 19- drop the binder clips on organizer 20- drop the binder clips on organizer Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10597775867816581099.mp4"}
+{"uid":"15385270309608428402","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove close to 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":"1516961472787582639.mp4"}
+{"uid":"10209221621607248189","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pen on organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the pen on organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- drop the marker on organizer 2- drop the marker on organizer 3- drop the marker on organizer 4- drop the pen on organizer 5- drop the pen on organizer 6- drop the pen on organizer 7- drop the pen on organizer 8- drop the pen on organizer 9- drop the pen on organizer Q: immediate next step? \u003cPRED\u003eA: drop the pen on organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pen on organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. Q: immediate next step? \u003cPRED\u003eA: drop the pen on organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pen on organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- drop the marker on organizer 2- drop the marker on organizer 3- drop the marker on organizer 4- drop the pen on organizer 5- drop the pen on organizer 6- drop the pen on organizer 7- drop the pen on organizer 8- drop the pen on organizer 9- drop the pen on organizer Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pen on organizer 2- drop the pen on organizer 3- drop the sticky notes on organizer 4- drop the sticky notes on organizer 5- drop the binder clips on organizer\n\u003c/PRED\u003e","video":"16828389176008023322.mp4"}
+{"uid":"5822113392118825286","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pista into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9440194153317503322.mp4"}
+{"uid":"3501904806958160695","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15740325753182989601.mp4"}
+{"uid":"2455207984662693527","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":"7962716856655661783.mp4"}
+{"uid":"14209380704847185743","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put book in the shelf\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput book in the shelf Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: There are some books in the desk can you keep it back organized in bookshelf. last 20 steps: 1- put book in the shelf 2- put book in the shelf Q: immediate next step? \u003cPRED\u003eA: put book in the shelf\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: There are some books in the desk can you keep it back organized in bookshelf. last 20 steps: 1- put book in the shelf 2- put book in the shelf Q: next 5 steps? \u003cPRED\u003eA: 1- put book in the shelf 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: There are some books in the desk can you keep it back organized in bookshelf Q: immediate next step? \u003cPRED\u003eA: put book in the shelf\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput book in the shelf Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put book in the shelf\n\u003c/PRED\u003e","video":"14996192580329498460.mp4"}
+{"uid":"1886418634044012162","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the binder clip box on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"822391281629780348.mp4"}
+{"uid":"105655276670489183","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the green 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":"8652889909508134217.mp4"}
+{"uid":"16777732872900575324","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the cup on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16793324183151559265.mp4"}
+{"uid":"7714427956380733915","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the organizer on drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the organizer on 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":"3712778499332851206.mp4"}
+{"uid":"8687840758121181131","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- drop the marker on organizer 2- drop the marker on organizer 3- drop the marker on organizer 4- drop the pen on organizer 5- drop the pen on organizer 6- drop the pen on organizer 7- drop the pen on organizer 8- drop the pen on organizer 9- drop the pen on organizer 10- drop the pen on organizer 11- drop the pen on organizer 12- drop the sticky notes on organizer 13- drop the sticky notes on organizer 14- drop the binder clips on organizer Q: immediate next step? \u003cPRED\u003eA: drop the binder clips on organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the binder clips on organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the binder clips on organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. Q: immediate next step? \u003cPRED\u003eA: drop the binder clips on organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- drop the marker on organizer 2- drop the marker on organizer 3- drop the marker on organizer 4- drop the pen on organizer 5- drop the pen on organizer 6- drop the pen on organizer 7- drop the pen on organizer 8- drop the pen on organizer 9- drop the pen on organizer 10- drop the pen on organizer 11- drop the pen on organizer 12- drop the sticky notes on organizer 13- drop the sticky notes on organizer 14- drop the binder clips on organizer Q: next 5 steps? \u003cPRED\u003eA: 1- drop the binder clips on organizer 2- drop the binder clips on organizer 3- drop the binder clips on organizer 4- drop the binder clips on organizer 5- drop the binder clips on organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the binder clips on organizer\n\u003c/PRED\u003e","video":"4600425465487514030.mp4"}
+{"uid":"4529286750216587387","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put book in the shelf\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput book in the shelf Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9468925895238550360.mp4"}
+{"uid":"5204089399903453618","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the paper clip in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- drop the marker on organizer 2- drop the marker on organizer 3- drop the marker on organizer 4- drop the pen on organizer 5- drop the pen on organizer 6- drop the pen on organizer 7- drop the pen on organizer 8- drop the pen on organizer 9- drop the pen on organizer 10- drop the pen on organizer 11- drop the pen on organizer 12- drop the sticky notes on organizer 13- drop the sticky notes on organizer 14- drop the binder clips on organizer 15- drop the binder clips on organizer 16- drop the binder clips on organizer 17- drop the binder clips on organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the paper clip in the organizer 2- drop the binder clips on organizer 3- drop the binder clips on organizer 4- open the drawer 5- drop the organizer on drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. Q: immediate next step? \u003cPRED\u003eA: put the paper clip in the organizer\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 organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the paper clip in the organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- drop the marker on organizer 2- drop the marker on organizer 3- drop the marker on organizer 4- drop the pen on organizer 5- drop the pen on organizer 6- drop the pen on organizer 7- drop the pen on organizer 8- drop the pen on organizer 9- drop the pen on organizer 10- drop the pen on organizer 11- drop the pen on organizer 12- drop the sticky notes on organizer 13- drop the sticky notes on organizer 14- drop the binder clips on organizer 15- drop the binder clips on organizer 16- drop the binder clips on organizer 17- drop the binder clips on organizer Q: immediate next step? \u003cPRED\u003eA: put the paper clip in the organizer\n\u003c/PRED\u003e","video":"6898358653182449124.mp4"}
+{"uid":"14396802146259070361","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. Q: immediate next step? \u003cPRED\u003eA: put the  pen marker in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the  pen marker in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the  pen marker in the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- drop the marker on organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the  pen marker in the organizer 2- drop the marker on organizer 3- drop the pen on organizer 4- drop the pen on organizer 5- drop the pen on organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the  pen marker in the organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- drop the marker on organizer Q: immediate next step? \u003cPRED\u003eA: put the  pen marker in the organizer\n\u003c/PRED\u003e","video":"11636652216260882924.mp4"}
+{"uid":"15122539794864861295","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the Sticky Notes in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the Sticky Notes in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. Q: immediate next step? \u003cPRED\u003eA: put the Sticky Notes in the organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- drop the marker on organizer 2- drop the marker on organizer 3- drop the marker on organizer 4- drop the pen on organizer 5- drop the pen on organizer 6- drop the pen on organizer 7- drop the pen on organizer 8- drop the pen on organizer 9- drop the pen on organizer 10- drop the pen on organizer 11- drop the pen on organizer Q: immediate next step? \u003cPRED\u003eA: put the Sticky Notes in the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the Sticky Notes in the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- drop the marker on organizer 2- drop the marker on organizer 3- drop the marker on organizer 4- drop the pen on organizer 5- drop the pen on organizer 6- drop the pen on organizer 7- drop the pen on organizer 8- drop the pen on organizer 9- drop the pen on organizer 10- drop the pen on organizer 11- drop the pen on organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the Sticky Notes in the organizer 2- drop the sticky notes on organizer 3- drop the binder clips on organizer 4- drop the binder clips on organizer 5- drop the binder clips on organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the Sticky Notes in the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11023552504200655305.mp4"}
+{"uid":"905680757041223892","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. Q: immediate next step? \u003cPRED\u003eA: put the  pen in the organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- drop the marker on organizer 2- drop the marker on organizer 3- drop the marker on organizer 4- drop the pen on organizer 5- drop the pen on organizer 6- drop the pen on organizer 7- drop the pen on organizer 8- drop the pen on organizer 9- drop the pen on organizer 10- drop the pen on organizer Q: immediate next step? \u003cPRED\u003eA: put the  pen in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the  pen in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the  pen in the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the  pen in the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- drop the marker on organizer 2- drop the marker on organizer 3- drop the marker on organizer 4- drop the pen on organizer 5- drop the pen on organizer 6- drop the pen on organizer 7- drop the pen on organizer 8- drop the pen on organizer 9- drop the pen on organizer 10- drop the pen on organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the  pen in the organizer 2- drop the sticky notes on organizer 3- drop the sticky notes on organizer 4- drop the binder clips on organizer 5- drop the binder clips on organizer\n\u003c/PRED\u003e","video":"8040825187926785486.mp4"}
+{"uid":"11790156360096222806","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. Q: immediate next step? \u003cPRED\u003eA: put the paper clip in the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the paper clip in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the paper clip in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the paper clip in the organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- drop the marker on organizer 2- drop the marker on organizer 3- drop the marker on organizer 4- drop the pen on organizer 5- drop the pen on organizer 6- drop the pen on organizer 7- drop the pen on organizer 8- drop the pen on organizer 9- drop the pen on organizer 10- drop the pen on organizer 11- drop the pen on organizer 12- drop the sticky notes on organizer 13- drop the sticky notes on organizer 14- drop the binder clips on organizer 15- drop the binder clips on organizer 16- drop the binder clips on organizer Q: immediate next step? \u003cPRED\u003eA: put the paper clip in the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- drop the marker on organizer 2- drop the marker on organizer 3- drop the marker on organizer 4- drop the pen on organizer 5- drop the pen on organizer 6- drop the pen on organizer 7- drop the pen on organizer 8- drop the pen on organizer 9- drop the pen on organizer 10- drop the pen on organizer 11- drop the pen on organizer 12- drop the sticky notes on organizer 13- drop the sticky notes on organizer 14- drop the binder clips on organizer 15- drop the binder clips on organizer 16- drop the binder clips on organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the paper clip in the organizer 2- drop the binder clips on organizer 3- drop the binder clips on organizer 4- drop the binder clips on organizer 5- open the drawer\n\u003c/PRED\u003e","video":"1615394548732644054.mp4"}
+{"uid":"2383589523227385374","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the illy packet into the tray 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":"1914353166126618089.mp4"}
+{"uid":"16604992608980170159","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the glass on the table from the bunch of 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":"16285923089856489227.mp4"}
+{"uid":"8839719356495988149","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":"7891338861261165535.mp4"}
+{"uid":"9154215253220615196","text":"\u003ctask:success:discrete:False\u003e\nput the paper clip in the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the paper clip in the organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. Q: immediate next step? \u003cPRED\u003eA: put the paper clip in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the paper clip in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- drop the marker on organizer 2- drop the marker on organizer 3- drop the marker on organizer 4- drop the pen on organizer 5- drop the pen on organizer 6- drop the pen on organizer 7- drop the pen on organizer 8- drop the pen on organizer 9- drop the pen on organizer 10- drop the pen on organizer 11- drop the pen on organizer 12- drop the sticky notes on organizer 13- drop the sticky notes on organizer 14- drop the binder clips on organizer 15- drop the binder clips on organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the paper clip in the organizer 2- drop the binder clips on organizer 3- drop the binder clips on organizer 4- drop the binder clips on organizer 5- drop the binder clips on organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the paper clip in the organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- drop the marker on organizer 2- drop the marker on organizer 3- drop the marker on organizer 4- drop the pen on organizer 5- drop the pen on organizer 6- drop the pen on organizer 7- drop the pen on organizer 8- drop the pen on organizer 9- drop the pen on organizer 10- drop the pen on organizer 11- drop the pen on organizer 12- drop the sticky notes on organizer 13- drop the sticky notes on organizer 14- drop the binder clips on organizer 15- drop the binder clips on organizer Q: immediate next step? \u003cPRED\u003eA: put the paper clip in the organizer\n\u003c/PRED\u003e","video":"784786289122815018.mp4"}
+{"uid":"5821159828566009847","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":"16854793789772442971.mp4"}
+{"uid":"11649317179225987819","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace vita coco 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":"11542769461987649245.mp4"}
+{"uid":"4872511471985678991","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- drop the marker on organizer 2- drop the marker on organizer 3- drop the marker on organizer 4- drop the pen on organizer 5- drop the pen on organizer 6- drop the pen on organizer 7- drop the pen on organizer 8- drop the pen on organizer 9- drop the pen on organizer 10- drop the pen on organizer 11- drop the pen on organizer 12- drop the sticky notes on organizer 13- drop the sticky notes on organizer 14- drop the binder clips on organizer 15- drop the binder clips on organizer 16- drop the binder clips on organizer 17- drop the binder clips on organizer 18- drop the binder clips on organizer Q: immediate next step? \u003cPRED\u003eA: drop the binder clips on organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. last 20 steps: 1- drop the marker on organizer 2- drop the marker on organizer 3- drop the marker on organizer 4- drop the pen on organizer 5- drop the pen on organizer 6- drop the pen on organizer 7- drop the pen on organizer 8- drop the pen on organizer 9- drop the pen on organizer 10- drop the pen on organizer 11- drop the pen on organizer 12- drop the sticky notes on organizer 13- drop the sticky notes on organizer 14- drop the binder clips on organizer 15- drop the binder clips on organizer 16- drop the binder clips on organizer 17- drop the binder clips on organizer 18- drop the binder clips on organizer Q: next 5 steps? \u003cPRED\u003eA: 1- drop the binder clips on organizer 2- drop the binder clips on organizer 3- open the drawer 4- drop the organizer on drawer 5- close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the binder clips on organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the binder clips on organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the binder clips on organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with pink and red supplies than put it back into the cabinet for me. Q: immediate next step? \u003cPRED\u003eA: drop the binder clips on organizer\n\u003c/PRED\u003e","video":"10124910449310916041.mp4"}
+{"uid":"16778284598732077254","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the 6 number object in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12741333055396090930.mp4"}
+{"uid":"13485882064009272068","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nLift up the screen cleaning wipe sachet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1007814373774477612.mp4"}
+{"uid":"12465855084032651846","text":"\u003ctask:success:discrete:True\u003e\npick up box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up box\n\u003c/PRED\u003e","video":"5238230411746638866.mp4"}
+{"uid":"10165095895248272797","text":"\u003ctask:success:discrete:True\u003e\nplace the tea 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 tea box in the holder\n\u003c/PRED\u003e","video":"2637511395500601703.mp4"}
+{"uid":"42775759489380983","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the tea box in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. Q: immediate next step? \u003cPRED\u003eA: place the tea box in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the tea 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: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- pick up the numi box 2- put numi box in the stand 3- pick up the numi box 4- place the tea box in the holder 5- pick up the tea box from the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the tea box in the holder 2- pick up the tea box from the table 3- put numi box in the stand 4- pick up the tea box from the table 5- place the tea box in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- pick up the numi box 2- put numi box in the stand 3- pick up the numi box 4- place the tea box in the holder 5- pick up the tea box from the table Q: immediate next step? \u003cPRED\u003eA: place the tea 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 tea box in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the tea 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":"1064977405726251095.mp4"}
+{"uid":"16677585558452195582","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the tea box in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the tea 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- pick up the numi box 2- put numi box in the stand 3- pick up the numi box 4- place the tea box in the holder 5- pick up the tea box from the table 6- put numi box in the stand 7- pick up the tea box from the table 8- put numi box in the stand 9- pick up the tea box from the table Q: immediate next step? \u003cPRED\u003eA: place the tea box in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. Q: immediate next step? \u003cPRED\u003eA: place the tea box in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the tea 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: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- pick up the numi box 2- put numi box in the stand 3- pick up the numi box 4- place the tea box in the holder 5- pick up the tea box from the table 6- put numi box in the stand 7- pick up the tea box from the table 8- put numi box in the stand 9- pick up the tea box from the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the tea box in the holder 2- adjust box in stand 3- pick up the tea box from the table 4- put numi box in the stand 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the tea box in the holder\n\u003c/PRED\u003e","video":"16447299030169188685.mp4"}
+{"uid":"5085166548266352991","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npour the pistas 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":"18181774352420128288.mp4"}
+{"uid":"3892281715218855223","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the yellow marker into the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3661694564912851447.mp4"}
+{"uid":"9798386253131727843","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put numi box in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput numi box in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17461249179735779547.mp4"}
+{"uid":"15425335270622661131","text":"\u003ctask:success:discrete:True\u003e\nput box 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 box in stand\n\u003c/PRED\u003e","video":"7120969867458519107.mp4"}
+{"uid":"5344941889375378107","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- pick up the numi box Q: next 5 steps? \u003cPRED\u003eA: 1- put numi box in the stand 2- pick up the numi box 3- place the tea box in the holder 4- pick up the tea box from the table 5- put numi box in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput numi box in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. Q: immediate next step? \u003cPRED\u003eA: put numi box in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput numi box in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put numi box in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- pick up the numi box Q: immediate next step? \u003cPRED\u003eA: put numi box in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put numi box in the stand\n\u003c/PRED\u003e","video":"2062901112040312253.mp4"}
+{"uid":"5544432336812998190","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the orange in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"735067956160321117.mp4"}
+{"uid":"5804558164606547348","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put numi box in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput numi box in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5608633609818524035.mp4"}
+{"uid":"11412704847484887295","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- pick up the numi box 2- put numi box in the stand Q: immediate next step? \u003cPRED\u003eA: pick up the tea box from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- pick up the numi box 2- put numi box in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the tea box from the table 2- place the tea box in the holder 3- pick up the tea box from the table 4- put numi box in the stand 5- pick up the tea box from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. Q: immediate next step? \u003cPRED\u003eA: pick up the tea box from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the tea box from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the tea box from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the tea box from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the tea box from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8844273907037078231.mp4"}
+{"uid":"18049501585787023663","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put numi box in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput numi box in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17912875484761195984.mp4"}
+{"uid":"10362486672152237760","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":"392351689259892937.mp4"}
+{"uid":"17837376696001066812","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":"5570050996072157785.mp4"}
+{"uid":"14698071413770258879","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the candy in the glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"548817055137463002.mp4"}
+{"uid":"3648240851645529261","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the tea box from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. Q: immediate next step? \u003cPRED\u003eA: pick up the tea box from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- pick up the numi box 2- put numi box in the stand 3- pick up the numi box 4- place the tea box in the holder 5- pick up the tea box from the table 6- put numi box in the stand 7- pick up the tea box from the table 8- put numi box in the stand 9- pick up the tea box from the table 10- place the tea box in the holder 11- adjust box in stand Q: immediate next step? \u003cPRED\u003eA: pick up the tea box from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the tea box from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- pick up the numi box 2- put numi box in the stand 3- pick up the numi box 4- place the tea box in the holder 5- pick up the tea box from the table 6- put numi box in the stand 7- pick up the tea box from the table 8- put numi box in the stand 9- pick up the tea box from the table 10- place the tea box in the holder 11- adjust box in stand Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the tea box from the table 2- put numi box in the stand 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the tea box from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the tea box from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3277418170736038827.mp4"}
+{"uid":"5887024991177245050","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. Q: immediate next step? \u003cPRED\u003eA: pick up numi box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up numi box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up numi 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: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- pick up the numi box 2- put numi box in the stand 3- pick up the numi box 4- place the tea box in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- pick up numi box 2- put numi box in the stand 3- pick up the tea box from the table 4- put numi box in the stand 5- pick up the tea box from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- pick up the numi box 2- put numi box in the stand 3- pick up the numi box 4- place the tea box in the holder Q: immediate next step? \u003cPRED\u003eA: pick up numi box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up numi box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up numi 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":"17460181734943878723.mp4"}
+{"uid":"7090541441798318154","text":"\u003ctask:success:discrete:False\u003e\nplace the tea 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:affordance:discriminative:discrete:True\u003e\nplace the tea 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the tea 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 tea box in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. Q: immediate next step? \u003cPRED\u003eA: place the tea box in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- pick up the numi box 2- put numi box in the stand 3- pick up the numi box 4- place the tea box in the holder 5- pick up the tea box from the table 6- put numi box in the stand 7- pick up the tea box from the table 8- put numi box in the stand 9- pick up the tea box from the table 10- place the tea box in the holder 11- adjust box in stand 12- pick up the tea box from the table Q: immediate next step? \u003cPRED\u003eA: place the tea box in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- pick up the numi box 2- put numi box in the stand 3- pick up the numi box 4- place the tea box in the holder 5- pick up the tea box from the table 6- put numi box in the stand 7- pick up the tea box from the table 8- put numi box in the stand 9- pick up the tea box from the table 10- place the tea box in the holder 11- adjust box in stand 12- pick up the tea box from the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the tea box in the holder 2- done\n\u003c/PRED\u003e","video":"6559214929855075513.mp4"}
+{"uid":"10148599419306875564","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the numi box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- pick up the numi box 2- put numi box in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the numi box 2- pick up the tea box from the table 3- put numi box in the stand 4- pick up the tea box from the table 5- put numi box in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the numi box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the numi box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the numi box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. Q: immediate next step? \u003cPRED\u003eA: pick up the numi box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- pick up the numi box 2- put numi box in the stand Q: immediate next step? \u003cPRED\u003eA: pick up the numi box\n\u003c/PRED\u003e","video":"17200898009743473382.mp4"}
+{"uid":"8460752849227192409","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the tea box from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the tea box from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12243540371937093837.mp4"}
+{"uid":"2872710840313264694","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":"13820338765494473761.mp4"}
+{"uid":"17714728829334602375","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put box in stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput box 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:planning:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. Q: immediate next step? \u003cPRED\u003eA: put box in stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- pick up the numi box 2- put numi box in the stand 3- pick up the numi box 4- place the tea box in the holder 5- pick up the tea box from the table Q: immediate next step? \u003cPRED\u003eA: put box in stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput box 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 box in stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- pick up the numi box 2- put numi box in the stand 3- pick up the numi box 4- place the tea box in the holder 5- pick up the tea box from the table Q: next 5 steps? \u003cPRED\u003eA: 1- put box in stand 2- pick up the tea box from the table 3- put numi box in the stand 4- pick up the tea box from the table 5- place the tea box in the holder\n\u003c/PRED\u003e","video":"6689832785741299270.mp4"}
+{"uid":"12742384144013861751","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the candy into the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"222355685421006173.mp4"}
+{"uid":"9869912850523008104","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- pick up the numi box 2- put numi box in the stand 3- pick up the numi box 4- place the tea box in the holder 5- pick up the tea box from the table 6- put numi box in the stand 7- pick up the tea box from the table 8- put numi box in the stand 9- pick up the tea box from the table Q: immediate next step? \u003cPRED\u003eA: put numi box in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put numi box in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put numi box in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. Q: immediate next step? \u003cPRED\u003eA: put numi box in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- pick up the numi box 2- put numi box in the stand 3- pick up the numi box 4- place the tea box in the holder 5- pick up the tea box from the table 6- put numi box in the stand 7- pick up the tea box from the table 8- put numi box in the stand 9- pick up the tea box from the table Q: next 5 steps? \u003cPRED\u003eA: 1- put numi box in the stand 2- pick up the tea box from the table 3- put numi box in the stand 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput numi box in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput numi box in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9497718176277046933.mp4"}
+{"uid":"4917116295306976969","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the numi box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the numi 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":"4638653705426598627.mp4"}
+{"uid":"17435699808952885750","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet on left side of 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":"13346421903381657552.mp4"}
+{"uid":"15636662019483671653","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":"18273823774518099793.mp4"}
+{"uid":"13295510723183796015","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":"1188152541401859075.mp4"}
+{"uid":"18079471055498852433","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the numi box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the numi 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":"3551372956432058520.mp4"}
+{"uid":"13307770922173347037","text":"\u003ctask:success:discrete:False\u003e\nput box in stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput box 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: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- pick up the numi box Q: immediate next step? \u003cPRED\u003eA: put box in stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put box in stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- pick up the numi box Q: next 5 steps? \u003cPRED\u003eA: 1- put box in stand 2- pick up the numi box 3- place the tea box in the holder 4- pick up the tea box from the table 5- put numi box in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. Q: immediate next step? \u003cPRED\u003eA: put box in stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put box in stand\n\u003c/PRED\u003e","video":"6679046724626478525.mp4"}
+{"uid":"8889804527229402758","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. Q: immediate next step? \u003cPRED\u003eA: put numi box in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put numi box in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput numi box in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put numi box in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput numi box in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- pick up the numi box 2- put numi box in the stand 3- pick up the numi box Q: immediate next step? \u003cPRED\u003eA: put numi box in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- pick up the numi box 2- put numi box in the stand 3- pick up the numi box Q: next 5 steps? \u003cPRED\u003eA: 1- put numi box in the stand 2- pick up the tea box from the table 3- put numi box in the stand 4- pick up the tea box from the table 5- put numi box in the stand\n\u003c/PRED\u003e","video":"2534830352354459452.mp4"}
+{"uid":"12922854259163542131","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":"315995761556440888.mp4"}
+{"uid":"5367114854234436971","text":"\u003ctask:success:discrete:True\u003e\npick up numi box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up numi box\n\u003c/PRED\u003e","video":"15055878100522323821.mp4"}
+{"uid":"5671942381510812354","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up numi box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up numi 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":"9596479392952727436.mp4"}
+{"uid":"10337346631125745465","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. Q: immediate next step? \u003cPRED\u003eA: put numi box in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put numi box in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput numi box in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put numi box in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- pick up the numi box 2- put numi box in the stand 3- pick up the numi box 4- place the tea box in the holder 5- pick up the tea box from the table 6- put numi box in the stand 7- pick up the tea box from the table 8- put numi box in the stand 9- pick up the tea box from the table 10- place the tea box in the holder 11- adjust box in stand 12- pick up the tea box from the table Q: immediate next step? \u003cPRED\u003eA: put numi box in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput numi box in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- pick up the numi box 2- put numi box in the stand 3- pick up the numi box 4- place the tea box in the holder 5- pick up the tea box from the table 6- put numi box in the stand 7- pick up the tea box from the table 8- put numi box in the stand 9- pick up the tea box from the table 10- place the tea box in the holder 11- adjust box in stand 12- pick up the tea box from the table Q: next 5 steps? \u003cPRED\u003eA: 1- put numi box in the stand 2- done\n\u003c/PRED\u003e","video":"3550898274209408491.mp4"}
+{"uid":"13344445931902098742","text":"\u003ctask:success:discrete:True\u003e\npick up the tea box from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the tea box from the table\n\u003c/PRED\u003e","video":"11182796974252115138.mp4"}
+{"uid":"12794119494238430376","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the tea box from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the tea box from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13544672845295331879.mp4"}
+{"uid":"15216282759393035160","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":"1623088252356420775.mp4"}
+{"uid":"2043289885847003399","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut a green jalapeno chip bag 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":"6256142734201368835.mp4"}
+{"uid":"12952655965450244997","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the paper on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16257716219216786384.mp4"}
+{"uid":"8962437133318671695","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- pick up the numi box 2- put numi box in the stand 3- pick up the numi box 4- place the tea box in the holder 5- pick up the tea box from the table 6- put numi box in the stand 7- pick up the tea box from the table 8- put numi box in the stand 9- pick up the tea box from the table 10- place the tea box in the holder 11- adjust box in stand 12- pick up the tea box from the table 13- place the tea box in the holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the tea 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 tea box in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- pick up the numi box 2- put numi box in the stand 3- pick up the numi box 4- place the tea box in the holder 5- pick up the tea box from the table 6- put numi box in the stand 7- pick up the tea box from the table 8- put numi box in the stand 9- pick up the tea box from the table 10- place the tea box in the holder 11- adjust box in stand 12- pick up the tea box from the table 13- place the tea box in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"12963430970069620270.mp4"}
+{"uid":"12003649156738671981","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- pick up the numi box 2- put numi box in the stand 3- pick up the numi box 4- place the tea box in the holder 5- pick up the tea box from the table 6- put numi box in the stand 7- pick up the tea box from the table 8- put numi box in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- pick up box 2- place the tea box in the holder 3- adjust box in stand 4- pick up the tea box from the table 5- put numi box in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- pick up the numi box 2- put numi box in the stand 3- pick up the numi box 4- place the tea box in the holder 5- pick up the tea box from the table 6- put numi box in the stand 7- pick up the tea box from the table 8- put numi box in the stand Q: immediate next step? \u003cPRED\u003eA: pick up box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. Q: immediate next step? \u003cPRED\u003eA: pick up box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up box\n\u003c/PRED\u003e","video":"1762609617108065801.mp4"}
+{"uid":"11620565852929985955","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- pick up the numi box 2- put numi box in the stand 3- pick up the numi box 4- place the tea box in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the tea box from the table 2- put numi box in the stand 3- pick up the tea box from the table 4- put numi box in the stand 5- pick up the tea box from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the tea box from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- pick up the numi box 2- put numi box in the stand 3- pick up the numi box 4- place the tea box in the holder Q: immediate next step? \u003cPRED\u003eA: pick up the tea box from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the tea box from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. Q: immediate next step? \u003cPRED\u003eA: pick up the tea box from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the tea box from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the tea box from the table\n\u003c/PRED\u003e","video":"11856102920770227165.mp4"}
+{"uid":"17531502631177666711","text":"\u003ctask:success:discrete:False\u003e\nput box in stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put box in stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- pick up the numi box 2- put numi box in the stand 3- pick up the numi box Q: next 5 steps? \u003cPRED\u003eA: 1- put box in stand 2- pick up the tea box from the table 3- put numi box in the stand 4- pick up the tea box from the table 5- put numi box in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput box 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: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- pick up the numi box 2- put numi box in the stand 3- pick up the numi box Q: immediate next step? \u003cPRED\u003eA: put box in stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put box in stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. Q: immediate next step? \u003cPRED\u003eA: put box in stand\n\u003c/PRED\u003e","video":"190739964565785883.mp4"}
+{"uid":"16181837014692804357","text":"\u003ctask:success:discrete:False\u003e\npick up box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- pick up the numi box 2- put numi box in the stand Q: immediate next step? \u003cPRED\u003eA: pick up box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. Q: immediate next step? \u003cPRED\u003eA: pick up box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- pick up the numi box 2- put numi box in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- pick up box 2- pick up the tea box from the table 3- put numi box in the stand 4- pick up the tea box from the table 5- put numi box in the stand\n\u003c/PRED\u003e","video":"12886538417019890232.mp4"}
+{"uid":"7632049595526134395","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up numi box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up numi 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":"963937532552050569.mp4"}
+{"uid":"17627074384717768258","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. Q: immediate next step? \u003cPRED\u003eA: adjust box in stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: adjust box in stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: adjust box in stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nadjust box 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: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- pick up the numi box 2- put numi box in the stand 3- pick up the numi box 4- place the tea box in the holder 5- pick up the tea box from the table 6- put numi box in the stand 7- pick up the tea box from the table 8- put numi box in the stand 9- pick up the tea box from the table 10- place the tea box in the holder Q: immediate next step? \u003cPRED\u003eA: adjust box in stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- pick up the numi box 2- put numi box in the stand 3- pick up the numi box 4- place the tea box in the holder 5- pick up the tea box from the table 6- put numi box in the stand 7- pick up the tea box from the table 8- put numi box in the stand 9- pick up the tea box from the table 10- place the tea box in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- adjust box in stand 2- pick up the tea box from the table 3- put numi box in the stand 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nadjust box 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":"4972728740530335516.mp4"}
+{"uid":"2794019143765563693","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pen stand on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17338701337640686682.mp4"}
+{"uid":"16646013254675792210","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10454936452809894069.mp4"}
+{"uid":"9594561710505563755","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- pick up the numi box 2- put numi box in the stand 3- pick up the numi box 4- place the tea box in the holder 5- pick up the tea box from the table 6- put numi box in the stand 7- pick up the tea box from the table Q: next 5 steps? \u003cPRED\u003eA: 1- put numi box in the stand 2- pick up the tea box from the table 3- place the tea box in the holder 4- adjust box in stand 5- pick up the tea box from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput numi box in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. Q: immediate next step? \u003cPRED\u003eA: put numi box in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput numi box in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put numi box in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put numi box in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- pick up the numi box 2- put numi box in the stand 3- pick up the numi box 4- place the tea box in the holder 5- pick up the tea box from the table 6- put numi box in the stand 7- pick up the tea box from the table Q: immediate next step? \u003cPRED\u003eA: put numi box in the stand\n\u003c/PRED\u003e","video":"16734430120760758570.mp4"}
+{"uid":"15678943028357040866","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick up numi 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: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- pick up the numi box 2- put numi box in the stand 3- pick up the numi box 4- place the tea box in the holder 5- pick up the tea box from the table 6- put numi box in the stand 7- pick up the tea box from the table 8- put numi box in the stand Q: immediate next step? \u003cPRED\u003eA: pick up numi box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up numi box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up numi box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up numi 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: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- pick up the numi box 2- put numi box in the stand 3- pick up the numi box 4- place the tea box in the holder 5- pick up the tea box from the table 6- put numi box in the stand 7- pick up the tea box from the table 8- put numi box in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- pick up numi box 2- place the tea box in the holder 3- adjust box in stand 4- pick up the tea box from the table 5- put numi box in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. Q: immediate next step? \u003cPRED\u003eA: pick up numi box\n\u003c/PRED\u003e","video":"6229631181373656565.mp4"}
+{"uid":"2206884829132132638","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"10366230651770657976.mp4"}
+{"uid":"7577005074085688283","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the brown packet inside 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":"9838398203865939055.mp4"}
+{"uid":"13136017193292627515","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- pick up the numi box 2- put numi box in the stand 3- pick up the numi box 4- place the tea box in the holder 5- pick up the tea box from the table 6- put numi box in the stand Q: immediate next step? \u003cPRED\u003eA: pick up the tea box from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. Q: immediate next step? \u003cPRED\u003eA: pick up the tea box from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- pick up the numi box 2- put numi box in the stand 3- pick up the numi box 4- place the tea box in the holder 5- pick up the tea box from the table 6- put numi box in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the tea box from the table 2- put numi box in the stand 3- pick up the tea box from the table 4- place the tea box in the holder 5- adjust box in stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the tea box from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the tea box from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the tea box from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the tea box from the table\n\u003c/PRED\u003e","video":"501393437942099593.mp4"}
+{"uid":"15169684597723094594","text":"\u003ctask:success:discrete:True\u003e\npick up box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up box\n\u003c/PRED\u003e","video":"15226769747610146814.mp4"}
+{"uid":"1334634175159962283","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the tea box from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the tea box from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the tea box from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. Q: immediate next step? \u003cPRED\u003eA: pick up the tea box from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the tea box from the table 2- put numi box in the stand 3- pick up the numi box 4- place the tea box in the holder 5- pick up the tea box from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick up the tea box from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the tea box from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12037126807616031424.mp4"}
+{"uid":"17445589779593670921","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":"3181724052589048022.mp4"}
+{"uid":"9696649042686317024","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- pick up the numi box 2- put numi box in the stand 3- pick up the numi box 4- place the tea box in the holder 5- pick up the tea box from the table 6- put numi box in the stand 7- pick up the tea box from the table 8- put numi box in the stand 9- pick up the tea box from the table 10- place the tea box in the holder 11- adjust box in stand 12- pick up the tea box from the table 13- put numi box in the stand Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput numi box in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put numi box in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- pick up the numi box 2- put numi box in the stand 3- pick up the numi box 4- place the tea box in the holder 5- pick up the tea box from the table 6- put numi box in the stand 7- pick up the tea box from the table 8- put numi box in the stand 9- pick up the tea box from the table 10- place the tea box in the holder 11- adjust box in stand 12- pick up the tea box from the table 13- put numi box in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"11873500579880171927.mp4"}
+{"uid":"13081528777354765210","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. Q: immediate next step? \u003cPRED\u003eA: put box in stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- pick up the numi box 2- put numi box in the stand 3- pick up the numi box 4- place the tea box in the holder 5- pick up the tea box from the table 6- put numi box in the stand 7- pick up the tea box from the table 8- put numi box in the stand 9- pick up the tea box from the table 10- place the tea box in the holder 11- adjust box in stand 12- pick up the tea box from the table Q: next 5 steps? \u003cPRED\u003eA: 1- put box in stand 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put box in stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput box 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 box in stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput box in stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- pick up the numi box 2- put numi box in the stand 3- pick up the numi box 4- place the tea box in the holder 5- pick up the tea box from the table 6- put numi box in the stand 7- pick up the tea box from the table 8- put numi box in the stand 9- pick up the tea box from the table 10- place the tea box in the holder 11- adjust box in stand 12- pick up the tea box from the table Q: immediate next step? \u003cPRED\u003eA: put box in stand\n\u003c/PRED\u003e","video":"7004169986192105216.mp4"}
+{"uid":"5450990805250673754","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":"4203523602455891966.mp4"}
+{"uid":"10700833973857308170","text":"\u003ctask:success:discrete:True\u003e\nplace the tea 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 tea box in the holder\n\u003c/PRED\u003e","video":"17152155480464836072.mp4"}
+{"uid":"7479678555186780896","text":"\u003ctask:success:discrete:False\u003e\npick up numi box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up numi box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- pick up the numi box 2- put numi box in the stand 3- pick up the numi box 4- place the tea box in the holder 5- pick up the tea box from the table 6- put numi box in the stand 7- pick up the tea box from the table 8- put numi box in the stand 9- pick up the tea box from the table 10- place the tea box in the holder 11- adjust box in stand Q: immediate next step? \u003cPRED\u003eA: pick up numi box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up numi 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: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- pick up the numi box 2- put numi box in the stand 3- pick up the numi box 4- place the tea box in the holder 5- pick up the tea box from the table 6- put numi box in the stand 7- pick up the tea box from the table 8- put numi box in the stand 9- pick up the tea box from the table 10- place the tea box in the holder 11- adjust box in stand Q: next 5 steps? \u003cPRED\u003eA: 1- pick up numi box 2- put numi box in the stand 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up numi box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. Q: immediate next step? \u003cPRED\u003eA: pick up numi box\n\u003c/PRED\u003e","video":"1522801756786360058.mp4"}
+{"uid":"368259202262808409","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the coffee cup lids on the existing stack in the glass holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8450707061258265490.mp4"}
+{"uid":"18433401821912917758","text":"\u003ctask:success:discrete:False\u003e\nplace the tea 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the tea 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 tea box in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- pick up the numi box 2- put numi box in the stand Q: immediate next step? \u003cPRED\u003eA: place the tea box in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the tea 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- pick up the numi box 2- put numi box in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- place the tea box in the holder 2- pick up the tea box from the table 3- put numi box in the stand 4- pick up the tea box from the table 5- put numi box in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. Q: immediate next step? \u003cPRED\u003eA: place the tea box in the holder\n\u003c/PRED\u003e","video":"14349743734356009937.mp4"}
+{"uid":"15210044317700873367","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. Q: immediate next step? \u003cPRED\u003eA: pick up box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- pick up the numi box 2- put numi box in the stand 3- pick up the numi box 4- place the tea box in the holder 5- pick up the tea box from the table 6- put numi box in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- pick up box 2- pick up the tea box from the table 3- place the tea box in the holder 4- adjust box in stand 5- pick up the tea box from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- pick up the numi box 2- put numi box in the stand 3- pick up the numi box 4- place the tea box in the holder 5- pick up the tea box from the table 6- put numi box in the stand Q: immediate next step? \u003cPRED\u003eA: pick up box\n\u003c/PRED\u003e","video":"11922866824980606805.mp4"}
+{"uid":"13454311578437558147","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the knives in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9094614306936914265.mp4"}
+{"uid":"17967535503168792981","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the numi box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the numi box 2- put numi box in the stand 3- pick up the numi box 4- place the tea box in the holder 5- pick up the tea box from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick up the numi box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. Q: immediate next step? \u003cPRED\u003eA: pick up the numi box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the numi box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the numi box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the numi 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":"4840094615037779815.mp4"}
+{"uid":"17349346595942467287","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- pick up the numi box 2- put numi box in the stand 3- pick up the numi box 4- place the tea box in the holder 5- pick up the tea box from the table 6- put numi box in the stand 7- pick up the tea box from the table 8- put numi box in the stand 9- pick up the tea box from the table Q: immediate next step? \u003cPRED\u003eA: put box in stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put box in stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- pick up the numi box 2- put numi box in the stand 3- pick up the numi box 4- place the tea box in the holder 5- pick up the tea box from the table 6- put numi box in the stand 7- pick up the tea box from the table 8- put numi box in the stand 9- pick up the tea box from the table Q: next 5 steps? \u003cPRED\u003eA: 1- put box in stand 2- adjust box in stand 3- pick up the tea box from the table 4- put numi box in the stand 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put box in stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. Q: immediate next step? \u003cPRED\u003eA: put box in stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput box 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 box 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":"4543205130665791369.mp4"}
+{"uid":"7824569581410707015","text":"\u003ctask:success:discrete:True\u003e\npick up the tea box from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the tea box from the table\n\u003c/PRED\u003e","video":"2115646896111758549.mp4"}
+{"uid":"8444932886025834263","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put box in stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput box 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":"11266758776119877637.mp4"}
+{"uid":"18304661343179850704","text":"\u003ctask:success:discrete:True\u003e\nplace the tea 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 tea box in the holder\n\u003c/PRED\u003e","video":"9040823186453882606.mp4"}
+{"uid":"8367258628416906890","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":"11418294160215623045.mp4"}
+{"uid":"8757561818119952067","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the tea box in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the tea 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","video":"17418181986358404248.mp4"}
+{"uid":"17721913891892316671","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove to the left Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8181478389473126071.mp4"}
+{"uid":"9493974701877744500","text":"\u003ctask:success:discrete:True\u003e\nput box 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 box in stand\n\u003c/PRED\u003e","video":"12231985450896874478.mp4"}
+{"uid":"16231586588340899527","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":"10604976497817626697.mp4"}
+{"uid":"6834675684186762444","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put numi box in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput numi box in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7711131081410819173.mp4"}
+{"uid":"12755538321090243030","text":"\u003ctask:success:discrete:False\u003e\npick up box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- pick up the numi box 2- put numi box in the stand 3- pick up the numi box 4- place the tea box in the holder 5- pick up the tea box from the table 6- put numi box in the stand 7- pick up the tea box from the table 8- put numi box in the stand 9- pick up the tea box from the table 10- place the tea box in the holder 11- adjust box in stand Q: immediate next step? \u003cPRED\u003eA: pick up box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- pick up the numi box 2- put numi box in the stand 3- pick up the numi box 4- place the tea box in the holder 5- pick up the tea box from the table 6- put numi box in the stand 7- pick up the tea box from the table 8- put numi box in the stand 9- pick up the tea box from the table 10- place the tea box in the holder 11- adjust box in stand Q: next 5 steps? \u003cPRED\u003eA: 1- pick up box 2- put numi box in the stand 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. Q: immediate next step? \u003cPRED\u003eA: pick up box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up box\n\u003c/PRED\u003e","video":"15297015435254208580.mp4"}
+{"uid":"10413857913745202212","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put box in stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput box 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":"11489904204188394346.mp4"}
+{"uid":"4873116245720748124","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop marker 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":"9260795214229377139.mp4"}
+{"uid":"1654081153078397589","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":"9019188636478764327.mp4"}
+{"uid":"8195492440121116160","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- pick up the numi box 2- put numi box in the stand 3- pick up the numi box 4- place the tea box in the holder 5- pick up the tea box from the table 6- put numi box in the stand Q: immediate next step? \u003cPRED\u003eA: pick up numi box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up numi box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up numi 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: pick up numi box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. Q: immediate next step? \u003cPRED\u003eA: pick up numi box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up numi box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- pick up the numi box 2- put numi box in the stand 3- pick up the numi box 4- place the tea box in the holder 5- pick up the tea box from the table 6- put numi box in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- pick up numi box 2- put numi box in the stand 3- pick up the tea box from the table 4- place the tea box in the holder 5- adjust box in stand\n\u003c/PRED\u003e","video":"16890557988461366952.mp4"}
+{"uid":"3513046881982744339","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":"18202908325145692715.mp4"}
+{"uid":"10015326611460810482","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the coffee cup lids on the existing stack in the glass holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7607306989688703507.mp4"}
+{"uid":"6962779454285138308","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the tea box in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the tea 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","video":"15773748293751042461.mp4"}
+{"uid":"14249061400447499865","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14214459908545553960.mp4"}
+{"uid":"2240776929188473432","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick up box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick up box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. Q: immediate next step? \u003cPRED\u003eA: pick up box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up box 2- pick up the numi box 3- place the tea box in the holder 4- pick up the tea box from the table 5- put numi box in the stand\n\u003c/PRED\u003e","video":"16561799857470400045.mp4"}
+{"uid":"7546982187666649202","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pouch in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16241971263455913022.mp4"}
+{"uid":"9571766658267383654","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the tea pouch 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":"14566894881791786114.mp4"}
+{"uid":"6263829280499090707","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- pick up the numi box 2- put numi box in the stand 3- pick up the numi box 4- place the tea box in the holder 5- pick up the tea box from the table 6- put numi box in the stand 7- pick up the tea box from the table Q: next 5 steps? \u003cPRED\u003eA: 1- put box in stand 2- pick up the tea box from the table 3- place the tea box in the holder 4- adjust box in stand 5- pick up the tea box from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput box 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: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- pick up the numi box 2- put numi box in the stand 3- pick up the numi box 4- place the tea box in the holder 5- pick up the tea box from the table 6- put numi box in the stand 7- pick up the tea box from the table Q: immediate next step? \u003cPRED\u003eA: put box in stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. Q: immediate next step? \u003cPRED\u003eA: put box in stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put box in stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put box in stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput box 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":"6556690390432004413.mp4"}
+{"uid":"13241034576019812110","text":"\u003ctask:success:discrete:True\u003e\nput numi box in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put numi box in the stand\n\u003c/PRED\u003e","video":"16111852691847091702.mp4"}
+{"uid":"7056285162164154050","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the tea box in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the tea 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the tea box in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- pick up the numi box Q: next 5 steps? \u003cPRED\u003eA: 1- place the tea box in the holder 2- pick up the numi box 3- place the tea box in the holder 4- pick up the tea box from the table 5- put numi box in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- pick up the numi box Q: immediate next step? \u003cPRED\u003eA: place the tea box in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the tea 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:planning:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. Q: immediate next step? \u003cPRED\u003eA: place the tea box in the holder\n\u003c/PRED\u003e","video":"983308789691905201.mp4"}
+{"uid":"11796314864357339566","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":"14873236959530607085.mp4"}
+{"uid":"8014560801684154966","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachio into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7126967096138556296.mp4"}
+{"uid":"15897415073235445465","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- pick up the numi box 2- put numi box in the stand 3- pick up the numi box 4- place the tea box in the holder 5- pick up the tea box from the table 6- put numi box in the stand 7- pick up the tea box from the table 8- put numi box in the stand Q: immediate next step? \u003cPRED\u003eA: pick up the tea box from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- pick up the numi box 2- put numi box in the stand 3- pick up the numi box 4- place the tea box in the holder 5- pick up the tea box from the table 6- put numi box in the stand 7- pick up the tea box from the table 8- put numi box in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the tea box from the table 2- place the tea box in the holder 3- adjust box in stand 4- pick up the tea box from the table 5- put numi box in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. Q: immediate next step? \u003cPRED\u003eA: pick up the tea box from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the tea box from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the tea box from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the tea box from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the tea box from the table\n\u003c/PRED\u003e","video":"8235795610007541107.mp4"}
+{"uid":"4014886008144925419","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":"2397963361842648297.mp4"}
+{"uid":"15882322171428692325","text":"\u003ctask:success:discrete:True\u003e\npick up box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up box\n\u003c/PRED\u003e","video":"5698387696747828711.mp4"}
+{"uid":"11864307999805890963","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- pick up the numi box 2- put numi box in the stand 3- pick up the numi box 4- place the tea box in the holder 5- pick up the tea box from the table 6- put numi box in the stand 7- pick up the tea box from the table 8- put numi box in the stand 9- pick up the tea box from the table 10- place the tea box in the holder 11- adjust box in stand 12- pick up the tea box from the table 13- put box in stand Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- pick up the numi box 2- put numi box in the stand 3- pick up the numi box 4- place the tea box in the holder 5- pick up the tea box from the table 6- put numi box in the stand 7- pick up the tea box from the table 8- put numi box in the stand 9- pick up the tea box from the table 10- place the tea box in the holder 11- adjust box in stand 12- pick up the tea box from the table 13- put box in stand Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput box 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 box in stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"9207180068269149205.mp4"}
+{"uid":"14682748682963777585","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the cup on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15756798894813057907.mp4"}
+{"uid":"17741646405718125035","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- pick up the numi box 2- put numi box in the stand 3- pick up the numi box 4- place the tea box in the holder 5- pick up the tea box from the table 6- put numi box in the stand 7- pick up the tea box from the table Q: immediate next step? \u003cPRED\u003eA: place the tea 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 tea box in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the tea box in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. Q: immediate next step? \u003cPRED\u003eA: place the tea box in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the tea 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:affordance:discriminative:discrete:True\u003e\nplace the tea 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- pick up the numi box 2- put numi box in the stand 3- pick up the numi box 4- place the tea box in the holder 5- pick up the tea box from the table 6- put numi box in the stand 7- pick up the tea box from the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the tea box in the holder 2- pick up the tea box from the table 3- place the tea box in the holder 4- adjust box in stand 5- pick up the tea box from the table\n\u003c/PRED\u003e","video":"1839664393662113786.mp4"}
+{"uid":"9080377879043282654","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput numi box in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put numi box in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put numi box in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- pick up the numi box 2- put numi box in the stand 3- pick up the numi box 4- place the tea box in the holder 5- pick up the tea box from the table Q: immediate next step? \u003cPRED\u003eA: put numi box in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- pick up the numi box 2- put numi box in the stand 3- pick up the numi box 4- place the tea box in the holder 5- pick up the tea box from the table Q: next 5 steps? \u003cPRED\u003eA: 1- put numi box in the stand 2- pick up the tea box from the table 3- put numi box in the stand 4- pick up the tea box from the table 5- place the tea box in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. Q: immediate next step? \u003cPRED\u003eA: put numi box in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput numi box in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3229360036040481836.mp4"}
+{"uid":"14800932772388569014","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. Q: immediate next step? \u003cPRED\u003eA: pick up box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- pick up the numi box 2- put numi box in the stand 3- pick up the numi box 4- place the tea box in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- pick up box 2- pick up the tea box from the table 3- put numi box in the stand 4- pick up the tea box from the table 5- place the tea box in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- pick up the numi box 2- put numi box in the stand 3- pick up the numi box 4- place the tea box in the holder Q: immediate next step? \u003cPRED\u003eA: pick up box\n\u003c/PRED\u003e","video":"8971157485530439144.mp4"}
+{"uid":"5163312799187701531","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the pen on the sticky note\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK. last 20 steps: 1- enter the room 2- open shelf door 3- place pen in the shelf rack 4- place sticky note in the shelf rack Q: immediate next step? \u003cPRED\u003eA: put sticky note on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput sticky note on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the pen on the sticky note Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put sticky note on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput sticky note on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put sticky note on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK. last 20 steps: 1- enter the room 2- open shelf door 3- place pen in the shelf rack 4- place sticky note in the shelf rack Q: next 5 steps? \u003cPRED\u003eA: 1- put sticky note on the table 2- close the shelf door 3- place pen on the table 4- put sticky note on the table 5- put the stationery items on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK Q: immediate next step? \u003cPRED\u003eA: put sticky note on the table\n\u003c/PRED\u003e","video":"17317810147508617191.mp4"}
+{"uid":"17806469380720473538","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2155200301728750491.mp4"}
+{"uid":"2474592185691450182","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":"1928897785388717718.mp4"}
+{"uid":"14519494418641074412","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: go to near the book shelf\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK Q: immediate next step? \u003cPRED\u003eA: go to near the book shelf\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: go to near the book shelf\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- go to near the book shelf 2- place pen in the shelf rack 3- place sticky note in the shelf rack 4- place pen and sticky note on the table 5- close the shelf door\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngo to near the book shelf Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngo to near the book shelf Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: go to near the book shelf\n\u003c/PRED\u003e","video":"4357468196685013446.mp4"}
+{"uid":"4491989355907202959","text":"\u003ctask:success:discrete:True\u003e\npick up the pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the pen\n\u003c/PRED\u003e","video":"16313236577353129048.mp4"}
+{"uid":"15596508087698835443","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the book shelf\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK. last 20 steps: 1- enter the room 2- open shelf door 3- place pen in the shelf rack 4- place sticky note in the shelf rack 5- place pen and sticky note on the table Q: next 5 steps? \u003cPRED\u003eA: 1- close the book shelf 2- put sticky note on the table 3- put the stationery items on the table 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK Q: immediate next step? \u003cPRED\u003eA: close the book shelf\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK. last 20 steps: 1- enter the room 2- open shelf door 3- place pen in the shelf rack 4- place sticky note in the shelf rack 5- place pen and sticky note on the table Q: immediate next step? \u003cPRED\u003eA: close the book shelf\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the book shelf Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the book shelf Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the book shelf\n\u003c/PRED\u003e","video":"16144104071267108308.mp4"}
+{"uid":"14819018443052295426","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":"9305391838376350175.mp4"}
+{"uid":"8951767072487910068","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place pen and sticky note on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace pen and sticky note on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK. last 20 steps: 1- enter the room 2- open shelf door 3- place pen in the shelf rack 4- place sticky note in the shelf rack 5- place pen and sticky note on the table 6- close the shelf door 7- place pen on the table 8- place pen and sticky note on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK. last 20 steps: 1- enter the room 2- open shelf door 3- place pen in the shelf rack 4- place sticky note in the shelf rack 5- place pen and sticky note on the table 6- close the shelf door 7- place pen on the table 8- place pen and sticky note on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"10111279603791169550.mp4"}
+{"uid":"14318035115841045171","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the charger 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":"18380073138359153998.mp4"}
+{"uid":"15574747893171115490","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen , sticky notes on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK. last 20 steps: 1- enter the room 2- open shelf door Q: immediate next step? \u003cPRED\u003eA: put the pen , sticky notes on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK Q: immediate next step? \u003cPRED\u003eA: put the pen , sticky notes on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK. last 20 steps: 1- enter the room 2- open shelf door Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen , sticky notes on the table 2- place pen on the table 3- put sticky note on the table 4- put the stationery items on the table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen , sticky notes on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen , sticky notes on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 , sticky notes on the table\n\u003c/PRED\u003e","video":"14137947612793412940.mp4"}
+{"uid":"10463097057969351501","text":"\u003ctask:success:discrete:True\u003e\nclose the book shelf Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close the book shelf\n\u003c/PRED\u003e","video":"7660732766230602818.mp4"}
+{"uid":"785559292055104603","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the plates Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12242856111585751425.mp4"}
+{"uid":"17051755932368816638","text":"\u003ctask:success:discrete:False\u003e\npick up the sticky note Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the sticky note\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the sticky note\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK. last 20 steps: 1- enter the room 2- open shelf door 3- place pen in the shelf rack Q: immediate next step? \u003cPRED\u003eA: pick up the sticky note\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK Q: immediate next step? \u003cPRED\u003eA: pick up the sticky note\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the sticky note Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK. last 20 steps: 1- enter the room 2- open shelf door 3- place pen in the shelf rack Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the sticky note 2- close the shelf door 3- place pen on the table 4- put sticky note on the table 5- put the stationery items on the table\n\u003c/PRED\u003e","video":"1917130089353935517.mp4"}
+{"uid":"7051203014541386178","text":"\u003ctask:success:discrete:True\u003e\nclose the rack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close the rack\n\u003c/PRED\u003e","video":"716746872032195196.mp4"}
+{"uid":"1321408800983277914","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove the organizer a 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":"17830517378845079513.mp4"}
+{"uid":"14550405151485791838","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nadjust the orange packet in the cart Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9867849180205778928.mp4"}
+{"uid":"17565330262860606571","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":"4748939980871592374.mp4"}
+{"uid":"13797109116456246609","text":"\u003ctask:success:discrete:False\u003e\nclose the cabinet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen , sticky notes on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK. last 20 steps: 1- enter the room 2- open shelf door 3- place pen in the shelf rack 4- place sticky note in the shelf rack 5- place pen and sticky note on the table Q: immediate next step? \u003cPRED\u003eA: close the cabinet\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the cabinet\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the pen , sticky notes on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the cabinet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK Q: immediate next step? \u003cPRED\u003eA: close the cabinet\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the cabinet\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK. last 20 steps: 1- enter the room 2- open shelf door 3- place pen in the shelf rack 4- place sticky note in the shelf rack 5- place pen and sticky note on the table Q: next 5 steps? \u003cPRED\u003eA: 1- close the cabinet 2- place pen on the table 3- put sticky note on the table 4- put the stationery items on the table 5- done\n\u003c/PRED\u003e","video":"13266325627656076068.mp4"}
+{"uid":"4774618749058119728","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ngo to near the white table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: go to near the white table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngo to near the white table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: go to near the white table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK. last 20 steps: 1- enter the room 2- open shelf door 3- place pen in the shelf rack 4- place sticky note in the shelf rack 5- place pen and sticky note on the table 6- close the shelf door 7- place pen on the table 8- put sticky note on the table Q: next 5 steps? \u003cPRED\u003eA: 1- go to near the white table 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK. last 20 steps: 1- enter the room 2- open shelf door 3- place pen in the shelf rack 4- place sticky note in the shelf rack 5- place pen and sticky note on the table 6- close the shelf door 7- place pen on the table 8- put sticky note on the table Q: immediate next step? \u003cPRED\u003eA: go to near the white table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK Q: immediate next step? \u003cPRED\u003eA: go to near the white table\n\u003c/PRED\u003e","video":"15411781459426584683.mp4"}
+{"uid":"5727776193393016225","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":"6071579341435547019.mp4"}
+{"uid":"7900341295182939522","text":"\u003ctask:success:discrete:True\u003e\nput sticky note on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put sticky note on the table\n\u003c/PRED\u003e","video":"3899051581140549379.mp4"}
+{"uid":"18290073269747611782","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the candy in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13676974467652530967.mp4"}
+{"uid":"12694446132405677111","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK. last 20 steps: 1- enter the room 2- open shelf door 3- place pen in the shelf rack 4- place sticky note in the shelf rack 5- place pen and sticky note on the table 6- close the shelf door Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen on the table from floor 2- put the stationery items on the table 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK. last 20 steps: 1- enter the room 2- open shelf door 3- place pen in the shelf rack 4- place sticky note in the shelf rack 5- place pen and sticky note on the table 6- close the shelf door Q: immediate next step? \u003cPRED\u003eA: put the pen on the table from floor\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen on the table from floor\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen on the table from floor\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen on the table from 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: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK Q: immediate next step? \u003cPRED\u003eA: put the pen on the table from floor\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen on the table from 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":"11367966431306246336.mp4"}
+{"uid":"17861237283539285660","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK. last 20 steps: 1- enter the room 2- open shelf door 3- place pen in the shelf rack 4- place sticky note in the shelf rack Q: next 5 steps? \u003cPRED\u003eA: 1- put the sticky note on the table 2- place pen on the table 3- put sticky note on the table 4- put the stationery items on the table 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the sticky note on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the sticky note on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the sticky note on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK Q: immediate next step? \u003cPRED\u003eA: put the sticky note on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the sticky note on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK. last 20 steps: 1- enter the room 2- open shelf door 3- place pen in the shelf rack 4- place sticky note in the shelf rack Q: immediate next step? \u003cPRED\u003eA: put the sticky note on the table\n\u003c/PRED\u003e","video":"10049419148879920362.mp4"}
+{"uid":"3422670614285896439","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the tea box 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":"3837721554826624149.mp4"}
+{"uid":"4138186484980502978","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nwipe the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11509515357875896830.mp4"}
+{"uid":"8473362741020983202","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nunstack the orange 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":"16868384053946060413.mp4"}
+{"uid":"498762697725809703","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the plastic spoon in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4286187089427793435.mp4"}
+{"uid":"11870103691896844122","text":"\u003ctask:success:discrete:True\u003e\nopen the rack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the rack\n\u003c/PRED\u003e","video":"12475508021225254602.mp4"}
+{"uid":"4044326447834320878","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a 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":"11093393992070074640.mp4"}
+{"uid":"635489894940324912","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK. last 20 steps: 1- enter the room 2- open shelf door Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK. last 20 steps: 1- enter the room 2- open shelf door Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- place sticky note in the shelf rack 3- place pen and sticky note on the table 4- close the shelf door 5- place pen on the table\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:success:discrete:False\u003e\nclose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4616324704604614043.mp4"}
+{"uid":"13552193101651466184","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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK. last 20 steps: 1- enter the room 2- open shelf door Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- place sticky note in the shelf rack 3- place pen and sticky note on the table 4- close the shelf door 5- place pen on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK. last 20 steps: 1- enter the room 2- open shelf door Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"644003295781799082.mp4"}
+{"uid":"16666289831433364832","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen on the sticky note Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK Q: immediate next step? \u003cPRED\u003eA: place the pen on the sticky note\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pen on the sticky note Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen on the sticky note\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen on the sticky note\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK. last 20 steps: 1- enter the room 2- open shelf door 3- place pen in the shelf rack 4- place sticky note in the shelf rack 5- place pen and sticky note on the table 6- close the shelf door Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen on the sticky note 2- put sticky note on the table 3- put the stationery items on the table 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK. last 20 steps: 1- enter the room 2- open shelf door 3- place pen in the shelf rack 4- place sticky note in the shelf rack 5- place pen and sticky note on the table 6- close the shelf door Q: immediate next step? \u003cPRED\u003eA: place the pen on the sticky note\n\u003c/PRED\u003e","video":"9535571911821834396.mp4"}
+{"uid":"16348834986843535092","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK Q: immediate next step? \u003cPRED\u003eA: pick up the pen\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK. last 20 steps: 1- enter the room 2- open shelf door Q: immediate next step? \u003cPRED\u003eA: pick up the pen\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the pen Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK. last 20 steps: 1- enter the room 2- open shelf door Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the pen 2- place sticky note in the shelf rack 3- place pen and sticky note on the table 4- close the shelf door 5- place pen on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the pen\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the pen\n\u003c/PRED\u003e","video":"5465243484812920934.mp4"}
+{"uid":"4696730591814064885","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK. last 20 steps: 1- enter the room 2- open shelf door Q: immediate next step? \u003cPRED\u003eA: put the pen on the shelf\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen on the shelf\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK. last 20 steps: 1- enter the room 2- open shelf door Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen on the shelf 2- place sticky note in the shelf rack 3- place pen and sticky note on the table 4- close the shelf door 5- place pen on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK Q: immediate next step? \u003cPRED\u003eA: put the pen on the shelf\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen on the shelf Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen on the shelf Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen on the shelf\n\u003c/PRED\u003e","video":"17702288173803015462.mp4"}
+{"uid":"2099480117501089473","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the sticky note pad out\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK. last 20 steps: 1- enter the room 2- open shelf door 3- place pen in the shelf rack Q: immediate next step? \u003cPRED\u003eA: put the sticky note pad out\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the sticky note pad out Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK Q: immediate next step? \u003cPRED\u003eA: put the sticky note pad out\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the sticky note pad out Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\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 sticky note pad out\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK. last 20 steps: 1- enter the room 2- open shelf door 3- place pen in the shelf rack Q: next 5 steps? \u003cPRED\u003eA: 1- put the sticky note pad out 2- close the shelf door 3- place pen on the table 4- put sticky note on the table 5- put the stationery items on the table\n\u003c/PRED\u003e","video":"13631217989962063822.mp4"}
+{"uid":"14569023711566749613","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace pen on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK Q: immediate next step? \u003cPRED\u003eA: place pen on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pen on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK. last 20 steps: 1- enter the room 2- open shelf door 3- place pen in the shelf rack 4- place sticky note in the shelf rack 5- place pen and sticky note on the table 6- close the shelf door Q: immediate next step? \u003cPRED\u003eA: place pen on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nclose the shelf 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: close the shelf door\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK. last 20 steps: 1- enter the room 2- open shelf door 3- place pen in the shelf rack 4- place sticky note in the shelf rack 5- place pen and sticky note on the table 6- close the shelf door Q: next 5 steps? \u003cPRED\u003eA: 1- place pen on the table 2- put the stationery items on the table 3- done\n\u003c/PRED\u003e","video":"6923948684236846329.mp4"}
+{"uid":"14830403401651828721","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK. last 20 steps: 1- enter the room 2- open shelf door 3- place pen in the shelf rack 4- place sticky note in the shelf rack 5- place pen and sticky note on the table 6- close the shelf door Q: immediate next step? \u003cPRED\u003eA: put the pen on the sticky notes\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK Q: immediate next step? \u003cPRED\u003eA: put the pen on the sticky notes\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen on the sticky notes Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED: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 on the sticky notes Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK. last 20 steps: 1- enter the room 2- open shelf door 3- place pen in the shelf rack 4- place sticky note in the shelf rack 5- place pen and sticky note on the table 6- close the shelf door Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen on the sticky notes 2- put the stationery items on the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen on the sticky notes\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen on the sticky notes\n\u003c/PRED\u003e","video":"15810470685091039889.mp4"}
+{"uid":"8064598551356103508","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace a Banana 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":"14883408102163772092.mp4"}
+{"uid":"16521700035825879171","text":"\u003ctask:success:discrete:False\u003e\nput the stationery items on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK Q: immediate next step? \u003cPRED\u003eA: put the stationery items on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK. last 20 steps: 1- enter the room 2- open shelf door 3- place pen in the shelf rack 4- place sticky note in the shelf rack 5- place pen and sticky note on the table 6- close the shelf door 7- place pen on the table 8- put sticky note on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the stationery items on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the stationery items on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the stationery items on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the stationery items on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK. last 20 steps: 1- enter the room 2- open shelf door 3- place pen in the shelf rack 4- place sticky note in the shelf rack 5- place pen and sticky note on the table 6- close the shelf door 7- place pen on the table 8- put sticky note on the table Q: immediate next step? \u003cPRED\u003eA: put the stationery items on the table\n\u003c/PRED\u003e","video":"11242170937080706054.mp4"}
+{"uid":"12316218568543738663","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place pen on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace pen and sticky note on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pen and sticky note on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK. last 20 steps: 1- enter the room 2- open shelf door 3- place pen in the shelf rack 4- place sticky note in the shelf rack 5- place pen and sticky note on the table 6- close the shelf door 7- place pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place pen and sticky note on the table 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK Q: immediate next step? \u003cPRED\u003eA: place pen and sticky note on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pen and sticky note on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pen and sticky note on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK. last 20 steps: 1- enter the room 2- open shelf door 3- place pen in the shelf rack 4- place sticky note in the shelf rack 5- place pen and sticky note on the table 6- close the shelf door 7- place pen on the table Q: immediate next step? \u003cPRED\u003eA: place pen and sticky note on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace pen on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7068300267275101164.mp4"}
+{"uid":"3343777384667309972","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":"1666162432928513348.mp4"}
+{"uid":"8322544564858649760","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK. last 20 steps: 1- enter the room 2- open shelf door 3- place pen in the shelf rack 4- place sticky note in the shelf rack 5- place pen and sticky note on the table 6- close the shelf door 7- place pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen , sticky notes in the next room table near laptop 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen , sticky notes in the next room table near laptop\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK. last 20 steps: 1- enter the room 2- open shelf door 3- place pen in the shelf rack 4- place sticky note in the shelf rack 5- place pen and sticky note on the table 6- close the shelf door 7- place pen on the table Q: immediate next step? \u003cPRED\u003eA: put the pen , sticky notes in the next room table near laptop\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen , sticky notes in the next room table near laptop Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED: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 , sticky notes in the next room table near laptop Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen , sticky notes in the next room table near laptop\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK Q: immediate next step? \u003cPRED\u003eA: put the pen , sticky notes in the next room table near laptop\n\u003c/PRED\u003e","video":"1188194463427312005.mp4"}
+{"uid":"9698363648193178881","text":"\u003ctask:success:discrete:True\u003e\nput the pen out Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen out\n\u003c/PRED\u003e","video":"5004321066643311237.mp4"}
+{"uid":"11311662549383497911","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nrelease 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":"3611299846840349674.mp4"}
+{"uid":"3920242336860825886","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the can near to laptop Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2955413912213178074.mp4"}
+{"uid":"15747224419303769964","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen on the table from floor\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the pen on the table from 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":"10997144444804645379.mp4"}
+{"uid":"6918238655778094379","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK. last 20 steps: 1- enter the room Q: next 5 steps? \u003cPRED\u003eA: 1- open the book shelf 2- place pen in the shelf rack 3- place sticky note in the shelf rack 4- place pen and sticky note on the table 5- close the shelf door\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the book shelf Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the book shelf\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the book shelf Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK. last 20 steps: 1- enter the room Q: immediate next step? \u003cPRED\u003eA: open the book shelf\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK Q: immediate next step? \u003cPRED\u003eA: open the book shelf\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the book shelf\n\u003c/PRED\u003e","video":"3805571955293314465.mp4"}
+{"uid":"13436974298669249446","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: go to the front room near rack\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: go to the front room near rack\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngo to the front room near rack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: go to the front room near rack\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- go to the front room near rack 2- place pen in the shelf rack 3- place sticky note in the shelf rack 4- place pen and sticky note on the table 5- close the shelf door\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngo to the front room near rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK Q: immediate next step? \u003cPRED\u003eA: go to the front room near rack\n\u003c/PRED\u003e","video":"379927098100573081.mp4"}
+{"uid":"16897180553128904158","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick a screen cleaning wipe sachet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11917497744048830511.mp4"}
+{"uid":"12374839560756724756","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen on the sticky note\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen on the sticky note\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK Q: immediate next step? \u003cPRED\u003eA: place the pen on the sticky note\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the chocolate on the table from tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen on the sticky note Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK. last 20 steps: 1- enter the room 2- open shelf door 3- place pen in the shelf rack 4- place sticky note in the shelf rack Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen on the sticky note 2- close the shelf door 3- place pen on the table 4- put sticky note on the table 5- put the stationery items on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK. last 20 steps: 1- enter the room 2- open shelf door 3- place pen in the shelf rack 4- place sticky note in the shelf rack Q: immediate next step? \u003cPRED\u003eA: place the pen on the sticky note\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pen on the sticky note Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15443405441269715016.mp4"}
+{"uid":"9444866196157447522","text":"\u003ctask:success:discrete:False\u003e\nopen the rack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the rack\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the rack\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK. last 20 steps: 1- enter the room Q: immediate next step? \u003cPRED\u003eA: open the rack\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK. last 20 steps: 1- enter the room Q: next 5 steps? \u003cPRED\u003eA: 1- open the rack 2- place sticky note in the shelf rack 3- place pen and sticky note on the table 4- close the shelf door 5- place pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK Q: immediate next step? \u003cPRED\u003eA: open the rack\n\u003c/PRED\u003e","video":"7320043803375660467.mp4"}
+{"uid":"729387026201507119","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":"11918412844533082881.mp4"}
+{"uid":"8005938204950357300","text":"\u003ctask:success:discrete:True\u003e\nclose the cabinet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close the cabinet\n\u003c/PRED\u003e","video":"13574203053720888213.mp4"}
+{"uid":"4183121281123154603","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the 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":"16890653586857426942.mp4"}
+{"uid":"12098162412312173883","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace snacks from right bowl to top drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14132479337789518335.mp4"}
+{"uid":"11281038961421171877","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"6191655922362064043.mp4"}
+{"uid":"7830688067421132148","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK. last 20 steps: 1- enter the room 2- open shelf door Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- place sticky note in the shelf rack 3- place pen and sticky note on the table 4- close the shelf door 5- place pen on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK. last 20 steps: 1- enter the room 2- open shelf door Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e","video":"17849462829943683337.mp4"}
+{"uid":"13757991211240328803","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nflip the cup 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":"6972447415722630379.mp4"}
+{"uid":"2290400802435740672","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK Q: immediate next step? \u003cPRED\u003eA: put the sticky note with pen on the left side table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the sticky note with pen on the left side table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the sticky note with pen on the left side table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK. last 20 steps: 1- enter the room 2- open shelf door 3- place pen in the shelf rack 4- place sticky note in the shelf rack 5- place pen and sticky note on the table 6- close the shelf door 7- place pen on the table 8- put sticky note on the table Q: immediate next step? \u003cPRED\u003eA: put the sticky note with pen on the left side table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the sticky note with pen on the left side table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK. last 20 steps: 1- enter the room 2- open shelf door 3- place pen in the shelf rack 4- place sticky note in the shelf rack 5- place pen and sticky note on the table 6- close the shelf door 7- place pen on the table 8- put sticky note on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the sticky note with pen on the left side table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the sticky note with pen on the left side table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5450062850370216069.mp4"}
+{"uid":"3796654834913287455","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the bag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15904741433669250174.mp4"}
+{"uid":"16463044431551138336","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pen and sticky note on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK Q: immediate next step? \u003cPRED\u003eA: place pen and sticky note on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace pen and sticky note on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK. last 20 steps: 1- enter the room 2- open shelf door 3- place pen in the shelf rack 4- place sticky note in the shelf rack Q: immediate next step? \u003cPRED\u003eA: place pen and sticky note on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK. last 20 steps: 1- enter the room 2- open shelf door 3- place pen in the shelf rack 4- place sticky note in the shelf rack Q: next 5 steps? \u003cPRED\u003eA: 1- place pen and sticky note on the table 2- close the shelf door 3- place pen on the table 4- put sticky note on the table 5- put the stationery items on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pen and sticky note on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pen and sticky note on the table\n\u003c/PRED\u003e","video":"127730115679710295.mp4"}
+{"uid":"4036108987166078178","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":"10952064996568528108.mp4"}
+{"uid":"12930586182099540766","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace plates on other 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":"2811749815928222086.mp4"}
+{"uid":"7572523707709912161","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the orange box on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13871896530349237965.mp4"}
+{"uid":"5332381849294707612","text":"\u003ctask:success:discrete:True\u003e\nplace pen and sticky note on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the shelf door\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the shelf door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place pen and sticky note on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the shelf door\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK Q: immediate next step? \u003cPRED\u003eA: close the shelf door\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK. last 20 steps: 1- enter the room 2- open shelf door 3- place pen in the shelf rack 4- place sticky note in the shelf rack 5- place pen and sticky note on the table Q: next 5 steps? \u003cPRED\u003eA: 1- close the shelf door 2- place pen on the table 3- put sticky note on the table 4- put the stationery items on the table 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK. last 20 steps: 1- enter the room 2- open shelf door 3- place pen in the shelf rack 4- place sticky note in the shelf rack 5- place pen and sticky note on the table Q: immediate next step? \u003cPRED\u003eA: close the shelf door\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the shelf door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4180691581800316920.mp4"}
+{"uid":"9656427517966088483","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput cup on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"687271953217852304.mp4"}
+{"uid":"11423722128702947208","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":"11776551149911614122.mp4"}
+{"uid":"12200448323023496575","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the cabinet\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nopen the cabinet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13181692170994959041.mp4"}
+{"uid":"9107541592401996115","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the glass in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16665734486668895438.mp4"}
+{"uid":"5957847164376936016","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put sticky note on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput sticky note on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK. last 20 steps: 1- enter the room 2- open shelf door 3- place pen in the shelf rack 4- place sticky note in the shelf rack 5- place pen and sticky note on the table 6- close the shelf door Q: next 5 steps? \u003cPRED\u003eA: 1- put sticky note on the table 2- put the stationery items on the table 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK. last 20 steps: 1- enter the room 2- open shelf door 3- place pen in the shelf rack 4- place sticky note in the shelf rack 5- place pen and sticky note on the table 6- close the shelf door Q: immediate next step? \u003cPRED\u003eA: put sticky note on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput sticky note on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK Q: immediate next step? \u003cPRED\u003eA: put sticky note on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put sticky note on the table\n\u003c/PRED\u003e","video":"8948176918779328741.mp4"}
+{"uid":"993930973400277","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK. last 20 steps: 1- enter the room 2- open shelf door Q: immediate next step? \u003cPRED\u003eA: place pen in the shelf rack\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pen in the shelf rack\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pen in the shelf rack\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK Q: immediate next step? \u003cPRED\u003eA: place pen in the shelf rack\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nopen the book shelf Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nopen shelf 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 shelf door\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the book shelf\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK. last 20 steps: 1- enter the room 2- open shelf door Q: next 5 steps? \u003cPRED\u003eA: 1- place pen in the shelf rack 2- place sticky note in the shelf rack 3- place pen and sticky note on the table 4- close the shelf door 5- place pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pen in the shelf rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace pen in the shelf rack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9714720181740046921.mp4"}
+{"uid":"17461138502659547787","text":"\u003ctask:success:discrete:True\u003e\ngo to the front room near rack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: go to near the book shelf\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ngo to near the book shelf Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: go to the front room near rack\n\u003c/PRED\u003e","video":"10944111688760038736.mp4"}
+{"uid":"12224860796712003790","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK Q: immediate next step? \u003cPRED\u003eA: open the cabinet\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the cabinet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK. last 20 steps: 1- enter the room Q: next 5 steps? \u003cPRED\u003eA: 1- open the cabinet 2- place pen in the shelf rack 3- place sticky note in the shelf rack 4- place pen and sticky note on the table 5- close the shelf door\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the cabinet\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the cabinet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED: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 a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK. last 20 steps: 1- enter the room Q: immediate next step? \u003cPRED\u003eA: open the cabinet\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the cabinet\n\u003c/PRED\u003e","video":"8096008437881282812.mp4"}
+{"uid":"5819044401358469786","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the blue 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":"759934739505067014.mp4"}
+{"uid":"6189620930020207797","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK. last 20 steps: 1- enter the room 2- open shelf door 3- place pen in the shelf rack 4- place sticky note in the shelf rack 5- place pen and sticky note on the table Q: next 5 steps? \u003cPRED\u003eA: 1- close the rack 2- put sticky note on the table 3- put the stationery items on the table 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK. last 20 steps: 1- enter the room 2- open shelf door 3- place pen in the shelf rack 4- place sticky note in the shelf rack 5- place pen and sticky note on the table Q: immediate next step? \u003cPRED\u003eA: close the rack\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the rack\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK Q: immediate next step? \u003cPRED\u003eA: close the rack\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the rack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the rack\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15224749542072275331.mp4"}
+{"uid":"4234078860861102151","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen out\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen out\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK. last 20 steps: 1- enter the room 2- open shelf door Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen out 2- place sticky note in the shelf rack 3- place pen and sticky note on the table 4- close the shelf door 5- place pen on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen out Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK Q: immediate next step? \u003cPRED\u003eA: put the pen out\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK. last 20 steps: 1- enter the room 2- open shelf door Q: immediate next step? \u003cPRED\u003eA: put the pen out\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen out Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8647463297498092560.mp4"}
+{"uid":"11473615853126897687","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":"11252953947528562899.mp4"}
+{"uid":"17795954751080726295","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nopen shelf door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nenter the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open shelf door\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open shelf door\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen shelf 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: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK. last 20 steps: 1- enter the room Q: next 5 steps? \u003cPRED\u003eA: 1- open shelf door 2- place pen in the shelf rack 3- place sticky note in the shelf rack 4- place pen and sticky note on the table 5- close the shelf door\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK. last 20 steps: 1- enter the room Q: immediate next step? \u003cPRED\u003eA: open shelf door\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: enter the room\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK Q: immediate next step? \u003cPRED\u003eA: open shelf door\n\u003c/PRED\u003e","video":"7550590304122767848.mp4"}
+{"uid":"164916485940767090","text":"\u003ctask:success:discrete:True\u003e\nput the pen , sticky notes in the next room table near laptop Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen , sticky notes in the next room table near laptop\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK. last 20 steps: 1- enter the room 2- open shelf door 3- place pen in the shelf rack 4- place sticky note in the shelf rack 5- place pen and sticky note on the table 6- close the shelf door 7- place pen on the table 8- put the pen , sticky notes in the next room table near laptop Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK. last 20 steps: 1- enter the room 2- open shelf door 3- place pen in the shelf rack 4- place sticky note in the shelf rack 5- place pen and sticky note on the table 6- close the shelf door 7- place pen on the table 8- put the pen , sticky notes in the next room table near laptop Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"2142645619900713413.mp4"}
+{"uid":"13861022511721779139","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK. last 20 steps: 1- enter the room 2- open shelf door 3- place pen in the shelf rack 4- place sticky note in the shelf rack 5- place pen and sticky note on the table 6- close the shelf door 7- place pen on the table 8- put sticky note on the table 9- put the stationery items 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: put the stationery items on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the stationery items on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK. last 20 steps: 1- enter the room 2- open shelf door 3- place pen in the shelf rack 4- place sticky note in the shelf rack 5- place pen and sticky note on the table 6- close the shelf door 7- place pen on the table 8- put sticky note on the table 9- put the stationery items on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"1882757621547927726.mp4"}
+{"uid":"5770860774282840330","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the sticky note\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the sticky note\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the sticky note Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the sticky note Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK. last 20 steps: 1- enter the room 2- open shelf door 3- place pen in the shelf rack 4- place sticky note in the shelf rack 5- place pen and sticky note on the table 6- close the shelf door 7- place pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the sticky note 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK. last 20 steps: 1- enter the room 2- open shelf door 3- place pen in the shelf rack 4- place sticky note in the shelf rack 5- place pen and sticky note on the table 6- close the shelf door 7- place pen on the table Q: immediate next step? \u003cPRED\u003eA: pick up the sticky note\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK Q: immediate next step? \u003cPRED\u003eA: pick up the sticky note\n\u003c/PRED\u003e","video":"559360221929781583.mp4"}
+{"uid":"7407418088953545713","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the orange into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18097404799910941578.mp4"}
+{"uid":"6544632213177946187","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace sticky note in the shelf rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK. last 20 steps: 1- enter the room 2- open shelf door 3- place pen in the shelf rack Q: immediate next step? \u003cPRED\u003eA: place sticky note in the shelf rack\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace pen in the shelf rack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place sticky note in the shelf rack\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place pen in the shelf rack\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK. last 20 steps: 1- enter the room 2- open shelf door 3- place pen in the shelf rack Q: next 5 steps? \u003cPRED\u003eA: 1- place sticky note in the shelf rack 2- place pen and sticky note on the table 3- close the shelf door 4- place pen on the table 5- put sticky note on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place sticky note in the shelf rack\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK Q: immediate next step? \u003cPRED\u003eA: place sticky note in the shelf rack\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace sticky note in the shelf rack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17314251564787967599.mp4"}
+{"uid":"15174398306711347827","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK. last 20 steps: 1- enter the room 2- open shelf door 3- place pen in the shelf rack 4- place sticky note in the shelf rack 5- place pen and sticky note on the table 6- close the shelf door 7- place pen on the table 8- put sticky note on the table 9- go to near the white table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ngo to near the white table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: go to near the white table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK. last 20 steps: 1- enter the room 2- open shelf door 3- place pen in the shelf rack 4- place sticky note in the shelf rack 5- place pen and sticky note on the table 6- close the shelf door 7- place pen on the table 8- put sticky note on the table 9- go to near the white table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"14052967692666449962.mp4"}
+{"uid":"12949549680473842775","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":"4554751325475055280.mp4"}
+{"uid":"3171481641847832537","text":"\u003ctask:success:discrete:True\u003e\nput the sticky note on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the sticky note on the table\n\u003c/PRED\u003e","video":"5936942388083175685.mp4"}
+{"uid":"18386354668882995714","text":"\u003ctask:success:discrete:False\u003e\npull the drawer out Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK Q: immediate next step? \u003cPRED\u003eA: pull the drawer out\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npull the drawer out Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK. last 20 steps: 1- enter the room 2- open shelf door Q: next 5 steps? \u003cPRED\u003eA: 1- pull the drawer out 2- place sticky note in the shelf rack 3- place pen and sticky note on the table 4- close the shelf door 5- place pen on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I need a post it note and a pencil, please go open the cabinet in the supply room and bring them back to me at my table in the MK. last 20 steps: 1- enter the room 2- open shelf door Q: immediate next step? \u003cPRED\u003eA: pull the drawer out\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pull the drawer out\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pull the drawer out\n\u003c/PRED\u003e","video":"17774974927717234646.mp4"}
+{"uid":"7876011719958872673","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":"5152988888359101909.mp4"}
+{"uid":"1123749418034031211","text":"\u003ctask:success:discrete:True\u003e\npick up 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: pick up the banana\n\u003c/PRED\u003e","video":"1106243806351802854.mp4"}
+{"uid":"3781069202037596877","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGrab the brush 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":"8240309107511650409.mp4"}
+{"uid":"4639816221646976976","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring some pineapple snacks from the MK to my office. last 20 steps: 1- place the lid on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the fruit thought in the bowl 2- put the fruit thoughts in the bowl 3- put the tong in the holder 4- close the glass jar lid 5- Give the bowl to the human hand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please bring some pineapple snacks from the MK to my office. Q: immediate next step? \u003cPRED\u003eA: put the fruit thought in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the fruit thought in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the fruit thought in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the fruit thought in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring some pineapple snacks from the MK to my office. last 20 steps: 1- place the lid on the table Q: immediate next step? \u003cPRED\u003eA: put the fruit thought in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the fruit thought in the bowl\n\u003c/PRED\u003e","video":"2298388784508702734.mp4"}
+{"uid":"6391724680590476808","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15870865609820343317.mp4"}
+{"uid":"18409257037738776748","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the candies 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":"10029567949645000592.mp4"}
+{"uid":"10906860240324670816","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the mini chocolate bar from the tray. 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 packets on the table 9- put packets on the table 10- put packets on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packets on the table 2- put packets 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 packets on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the mini chocolate bar from the tray Q: immediate next step? \u003cPRED\u003eA: put packets on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packets on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the mini chocolate bar from the tray. 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 packets on the table 9- put packets on the table 10- put packets on the table Q: immediate next step? \u003cPRED\u003eA: put packets on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packets on the table\n\u003c/PRED\u003e","video":"16282586603608082127.mp4"}
+{"uid":"17040442543402094610","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace banana on the paper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10525655956909927539.mp4"}
+{"uid":"18085717778261646461","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the mini chocolate bar from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the mini chocolate bar from the tray. 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 packets on the table 9- put packets on the table 10- put packets on the table 11- put packets on the table 12- put packets on the table 13- 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 mini chocolate bar from the tray. 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 packets on the table 9- put packets on the table 10- put packets on the table 11- put packets on the table 12- put packets on the table 13- 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: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":"16866874718595689448.mp4"}
+{"uid":"17602198946421277172","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring me a banana from the mk. last 20 steps: 1- pick up the banana 2- exit the room Q: immediate next step? \u003cPRED\u003eA: move to hallway\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move to hallway\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove to hallway Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove to hallway Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please bring me a banana from the mk Q: immediate next step? \u003cPRED\u003eA: move to hallway\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring me a banana from the mk. last 20 steps: 1- pick up the banana 2- exit the room Q: next 5 steps? \u003cPRED\u003eA: 1- move to hallway 2- place the banana on table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move to hallway\n\u003c/PRED\u003e","video":"11095611012031242329.mp4"}
+{"uid":"3351057114829214375","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":"16828980354515267038.mp4"}
+{"uid":"1154597993040185081","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the fruit thought in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the fruit thought 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":"10425821771792369315.mp4"}
+{"uid":"2024551462474166639","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove the note pad Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17247597986344719528.mp4"}
+{"uid":"15151485965162949120","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":"2395213750859148714.mp4"}
+{"uid":"2312466493542835486","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Give the bowl to the human hand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nGive the bowl to the human hand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 bring some pineapple snacks from the MK to my office. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring some pineapple snacks from the MK to my office. last 20 steps: 1- place the lid on the table 2- put the fruit thought in the bowl 3- put the fruit thoughts in the bowl 4- put the tong in the holder 5- close the glass jar lid 6- Give the bowl to the human hand Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring some pineapple snacks from the MK to my office. last 20 steps: 1- place the lid on the table 2- put the fruit thought in the bowl 3- put the fruit thoughts in the bowl 4- put the tong in the holder 5- close the glass jar lid 6- Give the bowl to the human hand Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"8702209526485999270.mp4"}
+{"uid":"10199708533321772127","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the knife into the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1079204406806858341.mp4"}
+{"uid":"1362448304106569636","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring me a banana from the mk. last 20 steps: 1- pick up the banana 2- exit the room 3- move to hallway 4- place the banana on table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please bring me a banana from the mk Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring me a banana from the mk. last 20 steps: 1- pick up the banana 2- exit the room 3- move to hallway 4- place the banana on table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the banana on table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the banana on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12414375032034926975.mp4"}
+{"uid":"4644041666227994836","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the fruit thoughts in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the fruit thoughts 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":"8231573634782939937.mp4"}
+{"uid":"5710041675694376943","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the mini chocolate bar from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the mini chocolate bar from the tray. 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the mini chocolate bar from the tray. 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":"14064293576948364159.mp4"}
+{"uid":"8902175748741085916","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up 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":"12648677320210548283.mp4"}
+{"uid":"6342239104075359619","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4460082271891779564.mp4"}
+{"uid":"14926638231371681615","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the mini chocolate bar from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the mini chocolate bar from the tray. 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 packets on the table 9- put packets on the table 10- put packets on the table 11- put packets on the table 12- put packets on the table 13- put packet on the table 14- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on the table 2- 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the mini chocolate bar from the tray. 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 packets on the table 9- put packets on the table 10- put packets on the table 11- put packets on the table 12- put packets on the table 13- put packet on the table 14- 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","video":"5873091864531994774.mp4"}
+{"uid":"17692935004764252593","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the mini chocolate bar from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the mini chocolate bar from the tray. 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: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 mini chocolate bar from the tray. 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 packets on the table\n\u003c/PRED\u003e","video":"8934068241645761256.mp4"}
+{"uid":"6243436396718438773","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pen into the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6598367261231063647.mp4"}
+{"uid":"17790706848486711484","text":"\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 mini chocolate bar from the tray. 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 packets on the table 3- put packets on the table 4- put packets on the table 5- put packets 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 mini chocolate bar from the tray. 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:planning:freeform\u003e\ncurrent goal is: Please remove the mini chocolate bar from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e","video":"14890081262391011527.mp4"}
+{"uid":"9650821873310510630","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the blue object Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5660990535604528499.mp4"}
+{"uid":"11662570463076887552","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput packets on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packets on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the mini chocolate bar from the tray. 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 packets on the table 2- put packets on the table 3- put packets on the table 4- put packets on the table 5- put packets on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packets on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the mini chocolate bar from the tray Q: immediate next step? \u003cPRED\u003eA: put packets on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the mini chocolate bar from the tray. 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 packets on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packets on the table\n\u003c/PRED\u003e","video":"3492506503608273818.mp4"}
+{"uid":"4135642642807050299","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3702320331669396684.mp4"}
+{"uid":"15065751198627717216","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the mini chocolate bar from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the mini chocolate bar from the tray. 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 packets on the table 9- put packets on the table 10- put packets on the table 11- put packets on the table 12- put packets 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:success:discrete:False\u003e\nput packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the mini chocolate bar from the tray. 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 packets on the table 9- put packets on the table 10- put packets on the table 11- put packets on the table 12- put packets on the table Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e","video":"17164948216715540581.mp4"}
+{"uid":"16019369085801011629","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring me a banana from the mk. last 20 steps: 1- pick up the banana 2- exit the room 3- move to hallway Q: immediate next step? \u003cPRED\u003eA: place the banana on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring me a banana from the mk. last 20 steps: 1- pick up the banana 2- exit the room 3- move to hallway Q: next 5 steps? \u003cPRED\u003eA: 1- place the banana on table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the banana on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the banana 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\nplace the banana on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the banana on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please bring me a banana from the mk Q: immediate next step? \u003cPRED\u003eA: place the banana on table\n\u003c/PRED\u003e","video":"3312483231172147211.mp4"}
+{"uid":"2108376783636359378","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nGive the bowl to the human hand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring some pineapple snacks from the MK to my office. last 20 steps: 1- place the lid on the table 2- put the fruit thought in the bowl 3- put the fruit thoughts in the bowl 4- put the tong in the holder 5- close the glass jar lid Q: next 5 steps? \u003cPRED\u003eA: 1- Give the bowl to the human hand 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring some pineapple snacks from the MK to my office. last 20 steps: 1- place the lid on the table 2- put the fruit thought in the bowl 3- put the fruit thoughts in the bowl 4- put the tong in the holder 5- close the glass jar lid Q: immediate next step? \u003cPRED\u003eA: Give the bowl to the human hand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Give the bowl to the human hand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please bring some pineapple snacks from the MK to my office. Q: immediate next step? \u003cPRED\u003eA: Give the bowl to the human hand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Give the bowl to the human hand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGive the bowl to the human hand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11049491006475633376.mp4"}
+{"uid":"3172442689790200406","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the mini chocolate bar from the tray. 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:planning:freeform\u003e\ncurrent goal is: Please remove the mini chocolate bar from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the mini chocolate bar from the tray. 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: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":"8900536316686971283.mp4"}
+{"uid":"6420792889086767394","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":"13827264407029015002.mp4"}
+{"uid":"4788888550568488229","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace blue packet from tray to counter Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10875378543014610399.mp4"}
+{"uid":"10464079031734795532","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the tetra pack on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2157197758608337193.mp4"}
+{"uid":"793226088079086574","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput fruit in drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10888332395858856628.mp4"}
+{"uid":"132180318477944778","text":"\u003ctask:success:discrete:True\u003e\nclose the glass jar lid Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close the glass jar lid\n\u003c/PRED\u003e","video":"851622691617090954.mp4"}
+{"uid":"9962735285509741618","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the cell Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12306193669093447820.mp4"}
+{"uid":"14271975094849734207","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace a pen on the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6447398406183513138.mp4"}
+{"uid":"12749425490688314265","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move to hallway\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove to hallway Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5495690167432262405.mp4"}
+{"uid":"6552018704521650895","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the yellow packets 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":"2971087474894744630.mp4"}
+{"uid":"16672223222090102555","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the popcorn packet on the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4745718561815766392.mp4"}
+{"uid":"12477435479785951635","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring some pineapple snacks from the MK to my office. last 20 steps: 1- place the lid on the table 2- put the fruit thought in the bowl 3- put the fruit thoughts in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the tong in the holder 2- close the glass jar lid 3- Give the bowl to the human hand 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring some pineapple snacks from the MK to my office. last 20 steps: 1- place the lid on the table 2- put the fruit thought in the bowl 3- put the fruit thoughts in the bowl Q: immediate next step? \u003cPRED\u003eA: put the tong in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please bring some pineapple snacks from the MK to my office. Q: immediate next step? \u003cPRED\u003eA: put the tong in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the tong 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 tong 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 tong in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the tong in the holder\n\u003c/PRED\u003e","video":"9535758573064462412.mp4"}
+{"uid":"13296455593304580521","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput grapes in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10149693363992057278.mp4"}
+{"uid":"18425574347055315642","text":"\u003ctask:success:discrete:False\u003e\npick up 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:planning:freeform\u003e\ncurrent goal is: Please bring me a banana from the mk Q: immediate next step? \u003cPRED\u003eA: pick up the banana\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the banana\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring me a banana from the mk. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick up the banana\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the banana\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring me a banana from the mk. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the banana 2- exit the room 3- move to hallway 4- place the banana on table 5- done\n\u003c/PRED\u003e","video":"1289128663307224421.mp4"}
+{"uid":"4943155155664439401","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the mini chocolate bar from the tray. 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 packets on the table 9- put packets on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packets on the table 2- put packets on the table 3- put packets 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 packets on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the mini chocolate bar from the tray Q: immediate next step? \u003cPRED\u003eA: put packets on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packets on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the mini chocolate bar from the tray. 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 packets on the table 9- put packets on the table Q: immediate next step? \u003cPRED\u003eA: put packets on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packets on the table\n\u003c/PRED\u003e","video":"15037653622196202821.mp4"}
+{"uid":"16308802055838074464","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack cup on the top of 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":"2485468482545848002.mp4"}
+{"uid":"15201890629469467189","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the fruit thoughts in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring some pineapple snacks from the MK to my office. last 20 steps: 1- place the lid on the table 2- put the fruit thought in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the fruit thoughts in the bowl 2- put the tong in the holder 3- close the glass jar lid 4- Give the bowl to the human hand 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring some pineapple snacks from the MK to my office. last 20 steps: 1- place the lid on the table 2- put the fruit thought in the bowl Q: immediate next step? \u003cPRED\u003eA: put the fruit thoughts in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the fruit thoughts in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please bring some pineapple snacks from the MK to my office. Q: immediate next step? \u003cPRED\u003eA: put the fruit thoughts in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the fruit thoughts in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the fruit thoughts 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":"16480022104621466097.mp4"}
+{"uid":"9803111667348144593","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the lid on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the lid on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please bring some pineapple snacks from the MK to my office. Q: immediate next step? \u003cPRED\u003eA: place the lid on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring some pineapple snacks from the MK to my office. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the lid on the table 2- put the fruit thought in the bowl 3- put the fruit thoughts in the bowl 4- put the tong in the holder 5- close the glass jar lid\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring some pineapple snacks from the MK to my office. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the lid on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the lid on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the lid on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14398970446904288286.mp4"}
+{"uid":"17526666162273594783","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the mini chocolate bar from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the mini chocolate bar from the tray. 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 packets on the table 4- put packets on the table 5- put packets on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put 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 mini chocolate bar from the tray. 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e","video":"17912841189641445185.mp4"}
+{"uid":"1587277386640520146","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":"5268837963942500489.mp4"}
+{"uid":"8845375262707895142","text":"\u003ctask:success:discrete:False\u003e\nclose the glass jar lid Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the glass jar lid\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring some pineapple snacks from the MK to my office. last 20 steps: 1- place the lid on the table 2- put the fruit thought in the bowl 3- put the fruit thoughts in the bowl 4- put the tong in the holder Q: immediate next step? \u003cPRED\u003eA: close the glass jar lid\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring some pineapple snacks from the MK to my office. last 20 steps: 1- place the lid on the table 2- put the fruit thought in the bowl 3- put the fruit thoughts in the bowl 4- put the tong in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- close the glass jar lid 2- Give the bowl to the human hand 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please bring some pineapple snacks from the MK to my office. Q: immediate next step? \u003cPRED\u003eA: close the glass jar lid\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the glass jar lid Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the glass jar lid\n\u003c/PRED\u003e","video":"4921694967401177321.mp4"}
+{"uid":"7860763812286618264","text":"\u003ctask:success:discrete:False\u003e\nexit the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nexit the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please bring me a banana from the mk Q: immediate next step? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring me a banana from the mk. last 20 steps: 1- pick up the banana Q: next 5 steps? \u003cPRED\u003eA: 1- exit the room 2- move to hallway 3- place the banana on table 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring me a banana from the mk. last 20 steps: 1- pick up the banana Q: immediate next step? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e","video":"11777602616519603813.mp4"}
+{"uid":"15732428928339559606","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the mini chocolate bar from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the mini chocolate bar from the tray. 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 packets on the table 5- put packets on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the mini chocolate bar from the tray. 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","video":"12312314419968980650.mp4"}
+{"uid":"3478926684242922553","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packets on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the mini chocolate bar from the tray Q: immediate next step? \u003cPRED\u003eA: put packets on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the mini chocolate bar from the tray. 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 packets on the table 9- put packets on the table 10- put packets on the table 11- put packets on the table Q: immediate next step? \u003cPRED\u003eA: put packets on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packets on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packets on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the mini chocolate bar from the tray. 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 packets on the table 9- put packets on the table 10- put packets on the table 11- put packets on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packets 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","video":"16726226063888079626.mp4"}
+{"uid":"3822128466059007593","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the mini chocolate bar from the tray. 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 packets on the table Q: immediate next step? \u003cPRED\u003eA: put packets on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packets on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the mini chocolate bar from the tray. 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 packets on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packets on the table 2- put packets on the table 3- put packets on the table 4- put packets on the table 5- 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 packets on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the mini chocolate bar from the tray Q: immediate next step? \u003cPRED\u003eA: put packets on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packets on the table\n\u003c/PRED\u003e","video":"4400028133534182919.mp4"}
+{"uid":"16735095550941288780","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the smart food 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: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the smart food packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. last 20 steps: 1- Put the yellow packet on table 2- Put the yellow packet on table 3- Put the yellow packet on table 4- Put the yellow packet on table 5- Put the yellow packet on table 6- Put the yellow packet on table 7- Put the white packet in basket 8- Put the white packet in basket 9- arrange a red packet in tray 10- Put the white packet in basket 11- Put the white packet in basket 12- put the smart food packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. last 20 steps: 1- Put the yellow packet on table 2- Put the yellow packet on table 3- Put the yellow packet on table 4- Put the yellow packet on table 5- Put the yellow packet on table 6- Put the yellow packet on table 7- Put the white packet in basket 8- Put the white packet in basket 9- arrange a red packet in tray 10- Put the white packet in basket 11- Put the white packet in basket 12- put the smart food packet in the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"6400883433287430373.mp4"}
+{"uid":"13114128625114710755","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 yellow packet on table 2- Put the yellow packet on table 3- Put the yellow packet on table 4- Put the yellow packet on table 5- Put the yellow packet on table 6- Put the yellow packet on table 7- Put the white packet in basket 8- Put the white packet in basket 9- arrange a red packet in tray 10- Put the white packet in basket 11- Put the white packet in basket Q: next 5 steps? \u003cPRED\u003eA: 1- Put the white packet in basket 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the white packet in basket\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 yellow packet on table 2- Put the yellow packet on table 3- Put the yellow packet on table 4- Put the yellow packet on table 5- Put the yellow packet on table 6- Put the yellow packet on table 7- Put the white packet in basket 8- Put the white packet in basket 9- arrange a red packet in tray 10- Put the white packet in basket 11- Put the white packet in basket Q: immediate next step? \u003cPRED\u003eA: Put the white packet in basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the white packet in basket\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 basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the white packet in basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the white packet in basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14156020842382764874.mp4"}
+{"uid":"18255525190383146589","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the white packet in basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14014157595451292446.mp4"}
+{"uid":"9361708721490246348","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 yellow packet on table 2- Put the yellow packet on table 3- Put the yellow packet on table 4- Put the yellow packet on table 5- Put the yellow packet on table 6- Put the yellow packet on table Q: next 5 steps? \u003cPRED\u003eA: 1- place the white packet on the table 2- arrange a red packet in tray 3- Put the white packet in basket 4- Put the white packet in basket 5- place the white packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the white 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 white 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 yellow packet on table 2- Put the yellow packet on table 3- Put the yellow packet on table 4- Put the yellow packet on table 5- Put the yellow packet on table 6- Put the yellow packet on table Q: immediate next step? \u003cPRED\u003eA: place the white 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: place the white packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the white packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the white 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":"17846156978339362288.mp4"}
+{"uid":"15781154908013959468","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 yellow packet on table 2- Put the yellow packet on table 3- Put the yellow packet on table Q: immediate next step? \u003cPRED\u003eA: place 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: place the yellow packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the yellow packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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: place the yellow packet on the table\n\u003c/PRED\u003e\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\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 yellow packet on table 2- Put the yellow packet on table 3- Put the yellow packet on table Q: next 5 steps? \u003cPRED\u003eA: 1- place the yellow packet on the table 2- Put the yellow packet on table 3- Put the yellow packet on table 4- Put the white packet in basket 5- Put the white packet in basket\n\u003c/PRED\u003e","video":"3772794816330650751.mp4"}
+{"uid":"8361271984891672313","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the steel tong on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1474457405505085258.mp4"}
+{"uid":"13608660858271385773","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 yellow packet on table 2- Put the yellow packet on table 3- Put the yellow packet on table 4- Put the yellow packet on table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the yellow packet on table 2- Put the yellow packet on table 3- Put the white packet in basket 4- Put the white packet in basket 5- arrange a red packet in tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the yellow 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 the yellow packet on 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 yellow packet on table 2- Put the yellow packet on table 3- Put the yellow packet on table 4- Put the yellow packet on table Q: immediate next step? \u003cPRED\u003eA: Put the yellow packet on 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 table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the yellow packet on table\n\u003c/PRED\u003e","video":"14702588398126008204.mp4"}
+{"uid":"6750096112396693182","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: done\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 yellow packet on table 2- Put the yellow packet on table 3- Put the yellow packet on table 4- Put the yellow packet on table 5- Put the yellow packet on table 6- Put the yellow packet on table 7- Put the white packet in basket 8- Put the white packet in basket 9- arrange a red packet in tray 10- Put the white packet in basket 11- Put the white packet in basket 12- place the white packet on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the white packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the white 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 yellow packet on table 2- Put the yellow packet on table 3- Put the yellow packet on table 4- Put the yellow packet on table 5- Put the yellow packet on table 6- Put the yellow packet on table 7- Put the white packet in basket 8- Put the white packet in basket 9- arrange a red packet in tray 10- Put the white packet in basket 11- Put the white packet in basket 12- place the white packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"10527813966568108190.mp4"}
+{"uid":"7338736360691757789","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white packet into the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2261846619999149370.mp4"}
+{"uid":"17919150491168464589","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the green cookie 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":"8315684588549966948.mp4"}
+{"uid":"4141913663677403920","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the royal gold 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 yellow packet on table 2- Put the yellow packet on table 3- Put the yellow packet on table Q: immediate next step? \u003cPRED\u003eA: put the royal gold packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the royal gold 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 relace the Tiny twists pretzels in the tray with smart 50 popcorn. last 20 steps: 1- Put the yellow packet on table 2- Put the yellow packet on table 3- Put the yellow packet on table Q: next 5 steps? \u003cPRED\u003eA: 1- put the royal gold packet on the table 2- Put the yellow packet on table 3- Put the white packet in basket 4- Put the white packet in basket 5- arrange a red packet in 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 royal gold 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 royal gold packet on the table\n\u003c/PRED\u003e","video":"9048956294443388833.mp4"}
+{"uid":"7393589356993376525","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the wire in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17406947801209667704.mp4"}
+{"uid":"2794912513163925409","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the royal gold 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 royal gold packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the royal gold packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the royal gold packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the royal gold 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 royal gold 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 royal gold packet on the table 2- Put the yellow packet on table 3- Put the yellow packet on table 4- Put the yellow packet on table 5- Put the yellow packet on table\n\u003c/PRED\u003e","video":"9005409840401799750.mp4"}
+{"uid":"3266052991408506508","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12240556754280326616.mp4"}
+{"uid":"8714142249523569152","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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: place 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: none Q: immediate next step? \u003cPRED\u003eA: place the yellow packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place 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- place the yellow packet on the table 2- Put the yellow packet on table 3- Put the yellow packet on table 4- Put the yellow packet on table 5- Put the yellow packet on 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: place the yellow packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace 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":"3078589835316891923.mp4"}
+{"uid":"2716194946221639007","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the yellow packet on 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 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 yellow packet on table Q: immediate next step? \u003cPRED\u003eA: Put the yellow packet on 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 yellow packet on table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the yellow packet on table 2- Put the yellow packet on table 3- Put the yellow packet on table 4- Put the yellow packet on table 5- Put the yellow packet on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the yellow 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 the yellow packet on table\n\u003c/PRED\u003e","video":"8039846115826935318.mp4"}
+{"uid":"11055338978260234589","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the blue 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":"106758006599824521.mp4"}
+{"uid":"8096893729732091202","text":"\u003ctask:success:discrete:True\u003e\nPut the white packet in basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the white packet in basket\n\u003c/PRED\u003e","video":"2072772462380962074.mp4"}
+{"uid":"3857590995401807167","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the yellow 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 relace the Tiny twists pretzels in the tray with smart 50 popcorn. last 20 steps: 1- Put the yellow packet on table 2- Put the yellow packet on table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the yellow packet on table 2- Put the yellow packet on table 3- Put the yellow packet on table 4- Put the yellow packet on table 5- Put the white packet in basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the yellow packet on table\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the yellow packet on 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 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 yellow packet on table 2- Put the yellow packet on table Q: immediate next step? \u003cPRED\u003eA: Put the yellow packet on 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 table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the yellow packet on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2913421684694941217.mp4"}
+{"uid":"4583878530943440003","text":"\u003ctask:success:discrete:False\u003e\nput the smart food packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the smart food packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the smart food packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. Q: immediate next step? \u003cPRED\u003eA: put the smart food packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the smart food 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 yellow packet on table 2- Put the yellow packet on table 3- Put the yellow packet on table 4- Put the yellow packet on table 5- Put the yellow packet on table 6- Put the yellow packet on table 7- Put the white packet in basket 8- Put the white packet in basket 9- arrange a red packet in tray Q: immediate next step? \u003cPRED\u003eA: put the smart food 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 yellow packet on table 2- Put the yellow packet on table 3- Put the yellow packet on table 4- Put the yellow packet on table 5- Put the yellow packet on table 6- Put the yellow packet on table 7- Put the white packet in basket 8- Put the white packet in basket 9- arrange a red packet in tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the smart food packet in the tray 2- place the white packet on the table 3- done\n\u003c/PRED\u003e","video":"4663971058924717320.mp4"}
+{"uid":"17183669669110544159","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: place 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 yellow packet on table 2- Put the yellow packet on table 3- Put the yellow packet on table 4- Put the yellow packet on table Q: immediate next step? \u003cPRED\u003eA: place 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 yellow packet on table 2- Put the yellow packet on table 3- Put the yellow packet on table 4- Put the yellow packet on table Q: next 5 steps? \u003cPRED\u003eA: 1- place the yellow packet on the table 2- Put the white packet in basket 3- Put the white packet in basket 4- arrange a red packet in tray 5- Put the white packet in basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the yellow packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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: place the yellow packet on the table\n\u003c/PRED\u003e","video":"8424634531654968862.mp4"}
+{"uid":"12380258384059196441","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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: place 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: place 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 yellow packet on table 2- Put the yellow packet on table Q: next 5 steps? \u003cPRED\u003eA: 1- place the yellow packet on the table 2- Put the yellow packet on table 3- Put the yellow packet on table 4- Put the white packet in basket 5- Put the white packet in basket\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 yellow packet on table 2- Put the yellow packet on table Q: immediate next step? \u003cPRED\u003eA: place the yellow packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the yellow packet on the table\n\u003c/PRED\u003e","video":"15643442682014865239.mp4"}
+{"uid":"4285357679061972093","text":"\u003ctask:success:discrete:True\u003e\nput the smart food 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the smart food 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 yellow packet on table 2- Put the yellow packet on table 3- Put the yellow packet on table 4- Put the yellow packet on table 5- Put the yellow packet on table 6- Put the yellow packet on table 7- Put the white packet in basket Q: immediate next step? \u003cPRED\u003eA: put the smart food 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 smart food 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 yellow packet on table 2- Put the yellow packet on table 3- Put the yellow packet on table 4- Put the yellow packet on table 5- Put the yellow packet on table 6- Put the yellow packet on table 7- Put the white packet in basket Q: next 5 steps? \u003cPRED\u003eA: 1- put the smart food packet in the tray 2- arrange a red packet in tray 3- Put the white packet in basket 4- Put the white packet in basket 5- place the white packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the smart food packet in the tray\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the smart food packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the smart food 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":"16521245118562967549.mp4"}
+{"uid":"9184286318277653980","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: place the yellow packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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 yellow packet on table Q: immediate next step? \u003cPRED\u003eA: place 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 yellow packet on table Q: next 5 steps? \u003cPRED\u003eA: 1- place the yellow packet on the table 2- Put the yellow packet on table 3- Put the yellow packet on table 4- Put the yellow packet on table 5- Put the white packet in basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place 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: place the yellow packet on the table\n\u003c/PRED\u003e","video":"8981170168137960276.mp4"}
+{"uid":"12986624600058145751","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the yellow packet on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the yellow 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 relace the Tiny twists pretzels in the tray with smart 50 popcorn. last 20 steps: 1- Put the yellow packet on table 2- Put the yellow packet on table 3- Put the yellow packet on table Q: immediate next step? \u003cPRED\u003eA: Put the yellow packet on 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 table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the yellow packet on 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 yellow packet on table 2- Put the yellow packet on table 3- Put the yellow packet on table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the yellow packet on table 2- Put the yellow packet on table 3- Put the yellow packet on table 4- Put the white packet in basket 5- Put the white packet in basket\n\u003c/PRED\u003e","video":"8879223900525610369.mp4"}
+{"uid":"18169978424403121737","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the smart food 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 smart food 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 yellow packet on table 2- Put the yellow packet on table 3- Put the yellow packet on table 4- Put the yellow packet on table 5- Put the yellow packet on table 6- Put the yellow packet on table 7- Put the white packet in basket 8- Put the white packet in basket 9- arrange a red packet in tray 10- Put the white packet in basket Q: immediate next step? \u003cPRED\u003eA: put the smart food 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 smart food packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the smart food packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. last 20 steps: 1- Put the yellow packet on table 2- Put the yellow packet on table 3- Put the yellow packet on table 4- Put the yellow packet on table 5- Put the yellow packet on table 6- Put the yellow packet on table 7- Put the white packet in basket 8- Put the white packet in basket 9- arrange a red packet in tray 10- Put the white packet in basket Q: next 5 steps? \u003cPRED\u003eA: 1- put the smart food packet in the tray 2- place the white packet on the table 3- done\n\u003c/PRED\u003e","video":"2601878057286776212.mp4"}
+{"uid":"15779553466844034497","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the red packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16505415321280188070.mp4"}
+{"uid":"10275548649341501759","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the bottom black pen in the 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":"7397247226948086632.mp4"}
+{"uid":"9271684078696801910","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachio in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12517800373509172568.mp4"}
+{"uid":"16755658817002035721","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 yellow packet on table 2- Put the yellow packet on table 3- Put the yellow packet on table 4- Put the yellow packet on table 5- Put the yellow packet on table 6- Put the yellow packet on table 7- Put the white packet in basket 8- Put the white packet in basket 9- arrange a red packet in tray Q: immediate next step? \u003cPRED\u003eA: place the white packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the white packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the white 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: place the white packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the white packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the white 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 yellow packet on table 2- Put the yellow packet on table 3- Put the yellow packet on table 4- Put the yellow packet on table 5- Put the yellow packet on table 6- Put the yellow packet on table 7- Put the white packet in basket 8- Put the white packet in basket 9- arrange a red packet in tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the white packet on the table 2- Put the white packet in basket 3- place the white packet on the table 4- done\n\u003c/PRED\u003e","video":"8546009556135336447.mp4"}
+{"uid":"16744067134922463038","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop sugar packet in organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"292269292985582048.mp4"}
+{"uid":"15908515120865927318","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPickup the transparent glass along with the bottle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4629025398452692245.mp4"}
+{"uid":"14156235464729237449","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the chocolate in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11616811140072052134.mp4"}
+{"uid":"17026881871171548918","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the spoon in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4604675989015643357.mp4"}
+{"uid":"7004629541112699150","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":"11858654903152557109.mp4"}
+{"uid":"1731392808386701757","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":"3908657997499667578.mp4"}
+{"uid":"11051246423552829113","text":"\u003ctask:success:discrete:True\u003e\nput the royal gold 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: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 royal gold 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 royal gold packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the royal gold 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 royal gold packet on the table\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the royal gold 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 yellow packet on table 2- Put the yellow packet on table Q: next 5 steps? \u003cPRED\u003eA: 1- put the royal gold packet on the table 2- Put the yellow packet on table 3- Put the yellow packet on table 4- Put the white packet in basket 5- Put the white packet in basket\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 yellow packet on table 2- Put the yellow packet on table Q: immediate next step? \u003cPRED\u003eA: put the royal gold packet on the table\n\u003c/PRED\u003e","video":"5025912729640087835.mp4"}
+{"uid":"15073871793651157981","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 yellow packet on table 2- Put the yellow packet on table 3- Put the yellow packet on table 4- Put the yellow packet on table 5- Put the yellow packet on table 6- Put the yellow packet on table 7- Put the white packet in basket 8- Put the white packet in basket 9- arrange a red packet in tray 10- Put the white packet in basket 11- Put the white packet in basket Q: next 5 steps? \u003cPRED\u003eA: 1- place the white packet on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the white packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the white packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the white 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: place the white 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 yellow packet on table 2- Put the yellow packet on table 3- Put the yellow packet on table 4- Put the yellow packet on table 5- Put the yellow packet on table 6- Put the yellow packet on table 7- Put the white packet in basket 8- Put the white packet in basket 9- arrange a red packet in tray 10- Put the white packet in basket 11- Put the white packet in basket Q: immediate next step? \u003cPRED\u003eA: place the white packet on the table\n\u003c/PRED\u003e","video":"18217501091805486468.mp4"}
+{"uid":"17360763535251597262","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 yellow packet on table 2- Put the yellow packet on table 3- Put the yellow packet on table 4- Put the yellow packet on table 5- Put the yellow packet on table Q: immediate next step? \u003cPRED\u003eA: place the yellow packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the yellow packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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: place 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: place 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 yellow packet on table 2- Put the yellow packet on table 3- Put the yellow packet on table 4- Put the yellow packet on table 5- Put the yellow packet on table Q: next 5 steps? \u003cPRED\u003eA: 1- place the yellow packet on the table 2- Put the white packet in basket 3- Put the white packet in basket 4- arrange a red packet in tray 5- Put the white packet in basket\n\u003c/PRED\u003e","video":"4701918140147897698.mp4"}
+{"uid":"4434058898518278011","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the orange 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":"1648128446309847196.mp4"}
+{"uid":"10630294257549984647","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: place the white 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 white 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 yellow packet on table 2- Put the yellow packet on table 3- Put the yellow packet on table 4- Put the yellow packet on table 5- Put the yellow packet on table 6- Put the yellow packet on table 7- Put the white packet in basket Q: next 5 steps? \u003cPRED\u003eA: 1- place the white packet on the table 2- arrange a red packet in tray 3- Put the white packet in basket 4- Put the white packet in basket 5- place the white packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the white 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 yellow packet on table 2- Put the yellow packet on table 3- Put the yellow packet on table 4- Put the yellow packet on table 5- Put the yellow packet on table 6- Put the yellow packet on table 7- Put the white packet in basket Q: immediate next step? \u003cPRED\u003eA: place the white packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the white 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":"4603506435591672087.mp4"}
+{"uid":"11762029190275498345","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 yellow packet on table 2- Put the yellow packet on table 3- Put the yellow packet on table 4- Put the yellow packet on table 5- Put the yellow packet on table 6- Put the yellow packet on table 7- Put the white packet in basket 8- Put the white packet in basket 9- arrange a red packet in tray 10- Put the white packet in basket 11- Put the white packet in basket Q: next 5 steps? \u003cPRED\u003eA: 1- put the smart food 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 the smart food packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the smart food packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. last 20 steps: 1- Put the yellow packet on table 2- Put the yellow packet on table 3- Put the yellow packet on table 4- Put the yellow packet on table 5- Put the yellow packet on table 6- Put the yellow packet on table 7- Put the white packet in basket 8- Put the white packet in basket 9- arrange a red packet in tray 10- Put the white packet in basket 11- Put the white packet in basket Q: immediate next step? \u003cPRED\u003eA: put the smart food packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the smart food 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 the smart food 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 smart food packet in the tray\n\u003c/PRED\u003e","video":"6204686134273795884.mp4"}
+{"uid":"11611216765348928079","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":"9342167949639593198.mp4"}
+{"uid":"119525020848166786","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace pink sachets 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":"17373060560832773745.mp4"}
+{"uid":"1586279166723829054","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: arrange a red packet in tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\narrange a red packet in tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"946160247256037461.mp4"}
+{"uid":"13418476073236190285","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the white packet in basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the white packet in basket\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 yellow packet on table 2- Put the yellow packet on table 3- Put the yellow packet on table 4- Put the yellow packet on table 5- Put the yellow packet on table 6- Put the yellow packet on table 7- Put the white packet in basket 8- Put the white packet in basket 9- arrange a red packet in tray 10- Put the white packet in basket Q: immediate next step? \u003cPRED\u003eA: Put the white packet in basket\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 basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the white packet in basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. last 20 steps: 1- Put the yellow packet on table 2- Put the yellow packet on table 3- Put the yellow packet on table 4- Put the yellow packet on table 5- Put the yellow packet on table 6- Put the yellow packet on table 7- Put the white packet in basket 8- Put the white packet in basket 9- arrange a red packet in tray 10- Put the white packet in basket Q: next 5 steps? \u003cPRED\u003eA: 1- Put the white packet in basket 2- place the white packet on the table 3- done\n\u003c/PRED\u003e","video":"2213965158979036394.mp4"}
+{"uid":"17395654349573558595","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop chocolate on the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14661671089065804664.mp4"}
+{"uid":"15886012635274201100","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput yellow 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":"521944749963618919.mp4"}
+{"uid":"14824659903546344310","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\narrange packet on tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4024123073424612397.mp4"}
+{"uid":"9647335311354766287","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the sticky notes in  a tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15007502809081497342.mp4"}
+{"uid":"510388920953991009","text":"\u003ctask:success:discrete:False\u003e\nPut the white packet in basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the white packet in basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. last 20 steps: 1- Put the yellow packet on table 2- Put the yellow packet on table 3- Put the yellow packet on table 4- Put the yellow packet on table 5- Put the yellow packet on table 6- Put the yellow packet on table 7- Put the white packet in basket 8- Put the white packet in basket 9- arrange a red packet in tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the white packet in basket 2- Put the white packet in basket 3- place the white packet on the table 4- 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 in basket\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 yellow packet on table 2- Put the yellow packet on table 3- Put the yellow packet on table 4- Put the yellow packet on table 5- Put the yellow packet on table 6- Put the yellow packet on table 7- Put the white packet in basket 8- Put the white packet in basket 9- arrange a red packet in tray Q: immediate next step? \u003cPRED\u003eA: Put the white packet in basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the white packet in basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the white packet in basket\n\u003c/PRED\u003e","video":"14746194743461448630.mp4"}
+{"uid":"17291697593346030629","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the royal gold 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 yellow packet on table Q: next 5 steps? \u003cPRED\u003eA: 1- put the royal gold packet on the table 2- Put the yellow packet on table 3- Put the yellow packet on table 4- Put the yellow packet on table 5- Put the white packet in basket\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 yellow packet on table Q: immediate next step? \u003cPRED\u003eA: put the royal gold 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 royal gold packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the royal gold 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 royal gold packet on the table\n\u003c/PRED\u003e","video":"16173048662635607453.mp4"}
+{"uid":"5809349897329023882","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":"5737425298097707142.mp4"}
+{"uid":"4796466811734716474","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 yellow packet on table 2- Put the yellow packet on table 3- Put the yellow packet on table 4- Put the yellow packet on table Q: next 5 steps? \u003cPRED\u003eA: 1- put the royal gold packet on the table 2- Put the white packet in basket 3- Put the white packet in basket 4- arrange a red packet in tray 5- Put the white packet in basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the royal gold 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 yellow packet on table 2- Put the yellow packet on table 3- Put the yellow packet on table 4- Put the yellow packet on table Q: immediate next step? \u003cPRED\u003eA: put the royal gold 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 royal gold 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 royal gold packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the royal gold packet on the table\n\u003c/PRED\u003e","video":"9229831225290352569.mp4"}
+{"uid":"3260264212209409301","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the stand 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":"17513569339873824740.mp4"}
+{"uid":"1653997283837012057","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the plastic cap 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":"2221988460825583956.mp4"}
+{"uid":"7943833948129762524","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the royal gold 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 royal gold 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 royal gold 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 yellow packet on table 2- Put the yellow packet on table 3- Put the yellow packet on table 4- Put the yellow packet on table 5- Put the yellow packet on table Q: next 5 steps? \u003cPRED\u003eA: 1- put the royal gold packet on the table 2- Put the white packet in basket 3- arrange a red packet in tray 4- Put the white packet in basket 5- Put the white packet in basket\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 yellow packet on table 2- Put the yellow packet on table 3- Put the yellow packet on table 4- Put the yellow packet on table 5- Put the yellow packet on table Q: immediate next step? \u003cPRED\u003eA: put the royal gold 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 royal gold packet on the table\n\u003c/PRED\u003e","video":"10341829243214456261.mp4"}
+{"uid":"7398150086724878352","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the brown 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":"3073736201433402056.mp4"}
+{"uid":"1898756759277578628","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the key on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3147759438442143895.mp4"}
+{"uid":"16795458111401629350","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 yellow packet on table 2- Put the yellow packet on table 3- Put the yellow packet on table 4- Put the yellow packet on table 5- Put the yellow packet on table 6- Put the yellow packet on table 7- Put the white packet in basket 8- Put the white packet in basket 9- arrange a red packet in tray 10- Put the white packet in basket Q: next 5 steps? \u003cPRED\u003eA: 1- place the white packet on the table 2- place the white packet on the table 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the white 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 yellow packet on table 2- Put the yellow packet on table 3- Put the yellow packet on table 4- Put the yellow packet on table 5- Put the yellow packet on table 6- Put the yellow packet on table 7- Put the white packet in basket 8- Put the white packet in basket 9- arrange a red packet in tray 10- Put the white packet in basket Q: immediate next step? \u003cPRED\u003eA: place the white packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the white 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: place the white 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 white packet on the table\n\u003c/PRED\u003e","video":"7728186960619541433.mp4"}
+{"uid":"3660864392359255509","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":"12349522108172431519.mp4"}
+{"uid":"4105004281829637035","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange object in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15163651297209300174.mp4"}
+{"uid":"963012474820103710","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput toy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8237813626902247935.mp4"}
+{"uid":"1537101987546497123","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the blue object 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":"7140516915000595233.mp4"}
+{"uid":"1519411219024708393","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the yellow 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 relace the Tiny twists pretzels in the tray with smart 50 popcorn. last 20 steps: 1- Put the yellow packet on table 2- Put the yellow packet on table 3- Put the yellow packet on table 4- Put the yellow packet on table 5- Put the yellow packet on table Q: immediate next step? \u003cPRED\u003eA: Put the yellow packet on 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 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 yellow packet on table 2- Put the yellow packet on table 3- Put the yellow packet on table 4- Put the yellow packet on table 5- Put the yellow packet on table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the yellow packet on table 2- Put the white packet in basket 3- Put the white packet in basket 4- arrange a red packet in tray 5- Put the white packet in basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the yellow packet on 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 table\n\u003c/PRED\u003e","video":"18040386689831018277.mp4"}
+{"uid":"18438312325773117431","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\narrange a red packet in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. last 20 steps: 1- Put the yellow packet on table 2- Put the yellow packet on table 3- Put the yellow packet on table 4- Put the yellow packet on table 5- Put the yellow packet on table 6- Put the yellow packet on table 7- Put the white packet in basket 8- Put the white packet in basket Q: immediate next step? \u003cPRED\u003eA: arrange a red packet in 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 yellow packet on table 2- Put the yellow packet on table 3- Put the yellow packet on table 4- Put the yellow packet on table 5- Put the yellow packet on table 6- Put the yellow packet on table 7- Put the white packet in basket 8- Put the white packet in basket Q: next 5 steps? \u003cPRED\u003eA: 1- arrange a red packet in tray 2- Put the white packet in basket 3- Put the white packet in basket 4- place the white packet on the table 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\narrange a red packet in tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. Q: immediate next step? \u003cPRED\u003eA: arrange a red packet in tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: arrange a red packet in tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: arrange a red packet in tray\n\u003c/PRED\u003e","video":"10342691825682536586.mp4"}
+{"uid":"575818949728456321","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 yellow packet on table 2- Put the yellow packet on table 3- Put the yellow packet on table 4- Put the yellow packet on table 5- Put the yellow packet on table 6- Put the yellow packet on table 7- Put the white packet in basket Q: immediate next step? \u003cPRED\u003eA: Put the white packet in basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the white packet in basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the white packet in basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the white packet in basket\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 basket\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 yellow packet on table 2- Put the yellow packet on table 3- Put the yellow packet on table 4- Put the yellow packet on table 5- Put the yellow packet on table 6- Put the yellow packet on table 7- Put the white packet in basket Q: next 5 steps? \u003cPRED\u003eA: 1- Put the white packet in basket 2- arrange a red packet in tray 3- Put the white packet in basket 4- Put the white packet in basket 5- place the white packet on the table\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the white packet in basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the white packet in basket\n\u003c/PRED\u003e","video":"5240142515075389583.mp4"}
+{"uid":"11027225694015674238","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 yellow packet on table 2- Put the yellow packet on table 3- Put the yellow packet on table 4- Put the yellow packet on table 5- Put the yellow packet on table 6- Put the yellow packet on table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the white packet in basket 2- Put the white packet in basket 3- arrange a red packet in tray 4- Put the white packet in basket 5- Put the white packet in basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the white packet in basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please relace the Tiny twists pretzels in the tray with smart 50 popcorn. Q: immediate next step? \u003cPRED\u003eA: Put the white packet in basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the white packet in basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the white packet in basket\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 yellow packet on table 2- Put the yellow packet on table 3- Put the yellow packet on table 4- Put the yellow packet on table 5- Put the yellow packet on table 6- Put the yellow packet on table Q: immediate next step? \u003cPRED\u003eA: Put the white packet in basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the white packet in basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7152520538514479357.mp4"}
+{"uid":"10073653029653787330","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 yellow packet on table 2- Put the yellow packet on table 3- Put the yellow packet on table 4- Put the yellow packet on table 5- Put the yellow packet on table 6- Put the yellow packet on table Q: immediate next step? \u003cPRED\u003eA: put the smart food packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the smart food 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 smart food 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 yellow packet on table 2- Put the yellow packet on table 3- Put the yellow packet on table 4- Put the yellow packet on table 5- Put the yellow packet on table 6- Put the yellow packet on table Q: next 5 steps? \u003cPRED\u003eA: 1- put the smart food packet in the tray 2- arrange a red packet in tray 3- Put the white packet in basket 4- Put the white packet in basket 5- place the white 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 smart food packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the smart food packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the smart food 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":"667091337262279054.mp4"}
+{"uid":"3615896510344346350","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"5115307700744714798.mp4"}
+{"uid":"17988000889860102112","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the stickynote 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":"3228474976127842811.mp4"}
+{"uid":"14169947951677232866","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick the green ball Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container Q: immediate next step? \u003cPRED\u003eA: pick the green ball\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the green ball\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container. last 20 steps: 1- pick the yellow ball 2- drop the yellow ball in the tube 3- pick the blue ball 4- drop the blue ball into the glass tube 5- pick the orange ball 6- drop the orange ball into the glass tube 7- slightly push the green ball Q: next 5 steps? \u003cPRED\u003eA: 1- pick the green ball 2- drop the green ball in the glass tube 3- move the black lid 4- slightly move back 5- slightly move the black lid downwards\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container. last 20 steps: 1- pick the yellow ball 2- drop the yellow ball in the tube 3- pick the blue ball 4- drop the blue ball into the glass tube 5- pick the orange ball 6- drop the orange ball into the glass tube 7- slightly push the green ball Q: immediate next step? \u003cPRED\u003eA: pick the green ball\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the green ball\n\u003c/PRED\u003e","video":"3195676501369117263.mp4"}
+{"uid":"17411370211083254419","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container. last 20 steps: 1- pick the yellow ball 2- drop the yellow ball in the tube 3- pick the blue ball 4- drop the blue ball into the glass tube 5- pick the orange ball 6- drop the orange ball into the glass tube 7- slightly push the green ball 8- move towards the green ball 9- pick the green ball 10- move close to the glass tube 11- drop the green ball in the glass tube 12- move the black lid 13- slightly move back Q: next 5 steps? \u003cPRED\u003eA: 1- slightly grab the black lid 2- move your arm towards the black lid 3- pick the tube lid 4- move close to the tube 5- move your ram close to the glass tube\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container. last 20 steps: 1- pick the yellow ball 2- drop the yellow ball in the tube 3- pick the blue ball 4- drop the blue ball into the glass tube 5- pick the orange ball 6- drop the orange ball into the glass tube 7- slightly push the green ball 8- move towards the green ball 9- pick the green ball 10- move close to the glass tube 11- drop the green ball in the glass tube 12- move the black lid 13- slightly move back Q: immediate next step? \u003cPRED\u003eA: slightly grab the black lid\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nslightly grab the black lid Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container Q: immediate next step? \u003cPRED\u003eA: slightly grab the black lid\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: slightly grab the black lid\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nslightly grab the black lid Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: slightly grab the black lid\n\u003c/PRED\u003e","video":"12709903222076511207.mp4"}
+{"uid":"362273181372512136","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container Q: immediate next step? \u003cPRED\u003eA: put the green ball into the cylindrical glass vessel\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the green ball into the cylindrical glass vessel Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container. last 20 steps: 1- pick the yellow ball 2- drop the yellow ball in the tube 3- pick the blue ball 4- drop the blue ball into the glass tube 5- pick the orange ball 6- drop the orange ball into the glass tube 7- slightly push the green ball 8- move towards the green ball 9- pick the green ball Q: immediate next step? \u003cPRED\u003eA: put the green ball into the cylindrical glass vessel\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the green ball into the cylindrical glass vessel Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the green ball into the cylindrical glass vessel\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container. last 20 steps: 1- pick the yellow ball 2- drop the yellow ball in the tube 3- pick the blue ball 4- drop the blue ball into the glass tube 5- pick the orange ball 6- drop the orange ball into the glass tube 7- slightly push the green ball 8- move towards the green ball 9- pick the green ball Q: next 5 steps? \u003cPRED\u003eA: 1- put the green ball into the cylindrical glass vessel 2- slightly move back 3- slightly move the black lid downwards 4- slightly grab the black lid 5- move your arm towards the black lid\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the green ball into the cylindrical glass vessel\n\u003c/PRED\u003e","video":"8813839395973721225.mp4"}
+{"uid":"475298866211852765","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick the green ball Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container. last 20 steps: 1- pick the yellow ball 2- drop the yellow ball in the tube 3- pick the blue ball 4- drop the blue ball into the glass tube 5- pick the orange ball 6- drop the orange ball into the glass tube 7- slightly push the green ball Q: next 5 steps? \u003cPRED\u003eA: 1- pick the green ball 2- drop the green ball in the glass tube 3- move the black lid 4- slightly move back 5- slightly move the black lid downwards\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the green ball\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the green ball\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container Q: immediate next step? \u003cPRED\u003eA: pick the green ball\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container. last 20 steps: 1- pick the yellow ball 2- drop the yellow ball in the tube 3- pick the blue ball 4- drop the blue ball into the glass tube 5- pick the orange ball 6- drop the orange ball into the glass tube 7- slightly push the green ball Q: immediate next step? \u003cPRED\u003eA: pick the green ball\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the green ball Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7257655823144525397.mp4"}
+{"uid":"18253418931510507814","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the red 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":"587897715087453990.mp4"}
+{"uid":"13512704436042713384","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":"8680700264437305296.mp4"}
+{"uid":"2509112626866741697","text":"\u003ctask:success:discrete:True\u003e\nmove your arm towards the glass tube Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move your arm towards the glass tube\n\u003c/PRED\u003e","video":"1663814120012188504.mp4"}
+{"uid":"9964932708260708225","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":"14673232750127666809.mp4"}
+{"uid":"17875740004642689956","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8456589482956401992.mp4"}
+{"uid":"7381083284708854228","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the green ball in the tube Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 green ball in the tube\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container. last 20 steps: 1- pick the yellow ball 2- drop the yellow ball in the tube 3- pick the blue ball 4- drop the blue ball into the glass tube 5- pick the orange ball 6- drop the orange ball into the glass tube 7- slightly push the green ball 8- move towards the green ball 9- pick the green ball Q: immediate next step? \u003cPRED\u003eA: drop the green ball in the tube\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the green ball in the tube\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the green ball in the tube Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container Q: immediate next step? \u003cPRED\u003eA: drop the green ball in the tube\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container. last 20 steps: 1- pick the yellow ball 2- drop the yellow ball in the tube 3- pick the blue ball 4- drop the blue ball into the glass tube 5- pick the orange ball 6- drop the orange ball into the glass tube 7- slightly push the green ball 8- move towards the green ball 9- pick the green ball Q: next 5 steps? \u003cPRED\u003eA: 1- drop the green ball in the tube 2- slightly move back 3- slightly move the black lid downwards 4- slightly grab the black lid 5- move your arm towards the black lid\n\u003c/PRED\u003e","video":"1193502508855740884.mp4"}
+{"uid":"6340427680355012535","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the cups on top of existing stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9022751935850117840.mp4"}
+{"uid":"1014988072552623540","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":"15588755421354166594.mp4"}
+{"uid":"13553426033193472192","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: slightly move the black lid downwards\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nslightly move the black lid downwards Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5843147591108367507.mp4"}
+{"uid":"8999958018814092211","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the lid\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container. last 20 steps: 1- pick the yellow ball 2- drop the yellow ball in the tube 3- pick the blue ball 4- drop the blue ball into the glass tube 5- pick the orange ball 6- drop the orange ball into the glass tube 7- slightly push the green ball 8- move towards the green ball 9- pick the green ball 10- move close to the glass tube 11- drop the green ball in the glass tube 12- move the black lid 13- slightly move back 14- slightly move the black lid downwards 15- slightly grab the black lid 16- move your arm towards the black lid Q: immediate next step? \u003cPRED\u003eA: pick the lid\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the lid\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container. last 20 steps: 1- pick the yellow ball 2- drop the yellow ball in the tube 3- pick the blue ball 4- drop the blue ball into the glass tube 5- pick the orange ball 6- drop the orange ball into the glass tube 7- slightly push the green ball 8- move towards the green ball 9- pick the green ball 10- move close to the glass tube 11- drop the green ball in the glass tube 12- move the black lid 13- slightly move back 14- slightly move the black lid downwards 15- slightly grab the black lid 16- move your arm towards the black lid Q: next 5 steps? \u003cPRED\u003eA: 1- pick the lid 2- move your ram close to the glass tube 3- slightly move your arm down 4- release the black lid 5- move your arm back\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the lid Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the lid Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container Q: immediate next step? \u003cPRED\u003eA: pick the lid\n\u003c/PRED\u003e","video":"11398397194351658367.mp4"}
+{"uid":"11240990501822571637","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container. last 20 steps: 1- pick the yellow ball 2- drop the yellow ball in the tube 3- pick the blue ball 4- drop the blue ball into the glass tube Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange ball in the cylindrical glass vessel 2- slightly push the green ball 3- move towards the green ball 4- pick the green ball 5- move close to the glass tube\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange ball in the cylindrical glass vessel Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container Q: immediate next step? \u003cPRED\u003eA: put the orange ball in the cylindrical glass vessel\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange ball in the cylindrical glass vessel\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container. last 20 steps: 1- pick the yellow ball 2- drop the yellow ball in the tube 3- pick the blue ball 4- drop the blue ball into the glass tube Q: immediate next step? \u003cPRED\u003eA: put the orange ball in the cylindrical glass vessel\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange ball in the cylindrical glass vessel\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange ball in the cylindrical glass vessel Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2856042173292522302.mp4"}
+{"uid":"1523322182090166715","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: slightly move your arm down\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nslightly move your arm 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":"9718949625936386947.mp4"}
+{"uid":"13553857615303094973","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container. last 20 steps: 1- pick the yellow ball 2- drop the yellow ball in the tube 3- pick the blue ball Q: next 5 steps? \u003cPRED\u003eA: 1- pick the orange ball 2- slightly push the green ball 3- move towards the green ball 4- pick the green ball 5- move close to the glass tube\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the orange ball Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 orange ball\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container Q: immediate next step? \u003cPRED\u003eA: pick the orange ball\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the orange ball\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container. last 20 steps: 1- pick the yellow ball 2- drop the yellow ball in the tube 3- pick the blue ball Q: immediate next step? \u003cPRED\u003eA: pick the orange ball\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the orange ball Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12336834579707382177.mp4"}
+{"uid":"11589373386383699281","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nadjust the tray in 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":"12484081479545038351.mp4"}
+{"uid":"3940461258823732692","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the green ball in the glass tube\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the green ball in the glass tube Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container Q: immediate next step? \u003cPRED\u003eA: drop the green ball in the glass tube\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the green ball in the glass tube Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 green ball in the glass tube\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container. last 20 steps: 1- pick the yellow ball 2- drop the yellow ball in the tube 3- pick the blue ball 4- drop the blue ball into the glass tube 5- pick the orange ball 6- drop the orange ball into the glass tube 7- slightly push the green ball 8- move towards the green ball 9- pick the green ball Q: next 5 steps? \u003cPRED\u003eA: 1- drop the green ball in the glass tube 2- slightly move back 3- slightly move the black lid downwards 4- slightly grab the black lid 5- move your arm towards the black lid\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container. last 20 steps: 1- pick the yellow ball 2- drop the yellow ball in the tube 3- pick the blue ball 4- drop the blue ball into the glass tube 5- pick the orange ball 6- drop the orange ball into the glass tube 7- slightly push the green ball 8- move towards the green ball 9- pick the green ball Q: immediate next step? \u003cPRED\u003eA: drop the green ball in the glass tube\n\u003c/PRED\u003e","video":"13504132793926490266.mp4"}
+{"uid":"11886960693899982983","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":"5116955168160194755.mp4"}
+{"uid":"11967948785164743825","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container Q: immediate next step? \u003cPRED\u003eA: pick the yellow ball\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick the yellow ball\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick the yellow ball 2- pick the blue ball 3- drop the blue ball into the glass tube 4- pick the orange ball 5- drop the orange ball into the glass tube\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the yellow ball\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the yellow ball Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\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 yellow ball Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 yellow ball\n\u003c/PRED\u003e","video":"1563121241116938512.mp4"}
+{"uid":"16045352627398455460","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace popcorn 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":"16663976007328723309.mp4"}
+{"uid":"350268742532729423","text":"\u003ctask:success:discrete:True\u003e\npick the blue ball Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the blue ball\n\u003c/PRED\u003e","video":"17102555029836359251.mp4"}
+{"uid":"16831869972041270049","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":"9882911996907531011.mp4"}
+{"uid":"8210428728781031009","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container. last 20 steps: 1- pick the yellow ball 2- drop the yellow ball in the tube 3- pick the blue ball 4- drop the blue ball into the glass tube 5- pick the orange ball 6- drop the orange ball into the glass tube 7- slightly push the green ball 8- move towards the green ball 9- pick the green ball 10- move close to the glass tube 11- drop the green ball in the glass tube 12- move the black lid 13- slightly move back 14- slightly move the black lid downwards 15- slightly grab the black lid Q: next 5 steps? \u003cPRED\u003eA: 1- move your arm downwards 2- pick the tube lid 3- move close to the tube 4- move your ram close to the glass tube 5- slightly move your arm down\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move your arm downwards\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move your arm downwards\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container Q: immediate next step? \u003cPRED\u003eA: move your arm downwards\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove your arm downwards Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove your arm downwards Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container. last 20 steps: 1- pick the yellow ball 2- drop the yellow ball in the tube 3- pick the blue ball 4- drop the blue ball into the glass tube 5- pick the orange ball 6- drop the orange ball into the glass tube 7- slightly push the green ball 8- move towards the green ball 9- pick the green ball 10- move close to the glass tube 11- drop the green ball in the glass tube 12- move the black lid 13- slightly move back 14- slightly move the black lid downwards 15- slightly grab the black lid Q: immediate next step? \u003cPRED\u003eA: move your arm downwards\n\u003c/PRED\u003e","video":"3111176037067754571.mp4"}
+{"uid":"12940173585129494974","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the yellow ball into cylindrical glass vessel Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the yellow ball into cylindrical glass vessel 2- pick the blue ball 3- drop the blue ball into the glass tube 4- pick the orange ball 5- drop the orange ball into the glass tube\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the yellow ball into cylindrical glass vessel\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container Q: immediate next step? \u003cPRED\u003eA: put the yellow ball into cylindrical glass vessel\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the yellow ball into cylindrical glass vessel\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the yellow ball into cylindrical glass vessel Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the yellow ball into cylindrical glass vessel\n\u003c/PRED\u003e","video":"6651790552417405912.mp4"}
+{"uid":"8959929215400344137","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16098441496197950105.mp4"}
+{"uid":"14458305124586041761","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nArrange the stacys 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":"15403783804566488120.mp4"}
+{"uid":"15776909015301727201","text":"\u003ctask:success:discrete:True\u003e\nmove your arm towards the black lid Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move your arm towards the black lid\n\u003c/PRED\u003e","video":"3720391122494818646.mp4"}
+{"uid":"6225669440256997885","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":"11134564570212354068.mp4"}
+{"uid":"3028408725214527659","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- drop the yellow ball in the tube 2- drop the blue ball into the glass tube 3- pick the orange ball 4- drop the orange ball into the glass tube 5- slightly push the green ball\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the yellow ball in the tube\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the yellow ball in the tube Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container Q: immediate next step? \u003cPRED\u003eA: drop the yellow ball in the tube\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the yellow ball in the tube Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED: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 yellow ball in the tube\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: drop the yellow ball in the tube\n\u003c/PRED\u003e","video":"12619629735825634501.mp4"}
+{"uid":"12389250591248596325","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the green ball into the cylindrical glass vessel\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the green ball into the cylindrical glass vessel Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12687437411029152476.mp4"}
+{"uid":"10290636060499129022","text":"\u003ctask:success:discrete:True\u003e\npick the green ball Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the green ball\n\u003c/PRED\u003e","video":"17900253763820474110.mp4"}
+{"uid":"3084164712125835468","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: slightly push the green ball\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container. last 20 steps: 1- pick the yellow ball 2- drop the yellow ball in the tube 3- pick the blue ball 4- drop the blue ball into the glass tube 5- pick the orange ball Q: next 5 steps? \u003cPRED\u003eA: 1- slightly push the green ball 2- move towards the green ball 3- pick the green ball 4- move close to the glass tube 5- drop the green ball in the glass tube\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nslightly push the green ball Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: slightly push the green ball\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container Q: immediate next step? \u003cPRED\u003eA: slightly push the green ball\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nslightly push the green ball Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container. last 20 steps: 1- pick the yellow ball 2- drop the yellow ball in the tube 3- pick the blue ball 4- drop the blue ball into the glass tube 5- pick the orange ball Q: immediate next step? \u003cPRED\u003eA: slightly push the green ball\n\u003c/PRED\u003e","video":"707903067026672840.mp4"}
+{"uid":"5148665521067122297","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the blue ball into the glass tube\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container. last 20 steps: 1- pick the yellow ball 2- drop the yellow ball in the tube Q: next 5 steps? \u003cPRED\u003eA: 1- drop the blue ball into the glass tube 2- drop the orange ball into the glass tube 3- slightly push the green ball 4- move towards the green ball 5- pick the green ball\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the blue ball into the glass tube\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container Q: immediate next step? \u003cPRED\u003eA: drop the blue ball into the glass tube\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the blue ball into the glass tube Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container. last 20 steps: 1- pick the yellow ball 2- drop the yellow ball in the tube Q: immediate next step? \u003cPRED\u003eA: drop the blue ball into the glass tube\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the blue ball into the glass tube Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16352254430786948623.mp4"}
+{"uid":"15980881065673567665","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the yellow ball into cylindrical glass vessel\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the yellow ball into cylindrical glass vessel Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6324119988277079996.mp4"}
+{"uid":"4153017733987081007","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the orange ball in the tube\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the orange ball in the tube Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\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 orange ball in the tube Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container Q: immediate next step? \u003cPRED\u003eA: drop the orange ball in the tube\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container. last 20 steps: 1- pick the yellow ball 2- drop the yellow ball in the tube 3- pick the blue ball 4- drop the blue ball into the glass tube Q: next 5 steps? \u003cPRED\u003eA: 1- drop the orange ball in the tube 2- slightly push the green ball 3- move towards the green ball 4- pick the green ball 5- move close to the glass tube\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container. last 20 steps: 1- pick the yellow ball 2- drop the yellow ball in the tube 3- pick the blue ball 4- drop the blue ball into the glass tube Q: immediate next step? \u003cPRED\u003eA: drop the orange ball in the tube\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the orange ball in the tube\n\u003c/PRED\u003e","video":"14804132060048413469.mp4"}
+{"uid":"5245777428925763078","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the black pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2038428934646890603.mp4"}
+{"uid":"12079558500214117477","text":"\u003ctask:success:discrete:True\u003e\nmove your arm downwards Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 downwards\n\u003c/PRED\u003e","video":"10419426822767497745.mp4"}
+{"uid":"6360347368159959862","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container. last 20 steps: 1- pick the yellow ball 2- drop the yellow ball in the tube Q: immediate next step? \u003cPRED\u003eA: put the blue ball in the cylindrical glass vessel\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container. last 20 steps: 1- pick the yellow ball 2- drop the yellow ball in the tube Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue ball in the cylindrical glass vessel 2- pick the orange ball 3- drop the orange ball into the glass tube 4- slightly push the green ball 5- move towards the green ball\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the blue ball in the cylindrical glass vessel Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container Q: immediate next step? \u003cPRED\u003eA: put the blue ball in the cylindrical glass vessel\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue ball in the cylindrical glass vessel\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue ball in the cylindrical glass vessel Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 ball in the cylindrical glass vessel\n\u003c/PRED\u003e","video":"7622686054828492511.mp4"}
+{"uid":"17501188883722701536","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the lid\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the lid Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4123316790885791171.mp4"}
+{"uid":"13199800800062308001","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the ball in the tube\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the ball in the tube Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18393355739306497770.mp4"}
+{"uid":"2186950148726457504","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the cleaning sponge in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2773512915173505476.mp4"}
+{"uid":"9940812108942051285","text":"\u003ctask:success:discrete:True\u003e\ndrop the blue ball into the glass tube Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the blue ball into the glass tube\n\u003c/PRED\u003e","video":"6165830185660337113.mp4"}
+{"uid":"739218995374817891","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the page  clip holder 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":"11953690560226433135.mp4"}
+{"uid":"12127906726320455740","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container. last 20 steps: 1- pick the yellow ball 2- drop the yellow ball in the tube 3- pick the blue ball 4- drop the blue ball into the glass tube 5- pick the orange ball 6- drop the orange ball into the glass tube 7- slightly push the green ball 8- move towards the green ball 9- pick the green ball 10- move close to the glass tube 11- drop the green ball in the glass tube 12- move the black lid 13- slightly move back 14- slightly move the black lid downwards 15- slightly grab the black lid 16- move your arm towards the black lid Q: immediate next step? \u003cPRED\u003eA: pick the tube lid\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the tube lid\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the tube lid Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the tube lid\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container Q: immediate next step? \u003cPRED\u003eA: pick the tube lid\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container. last 20 steps: 1- pick the yellow ball 2- drop the yellow ball in the tube 3- pick the blue ball 4- drop the blue ball into the glass tube 5- pick the orange ball 6- drop the orange ball into the glass tube 7- slightly push the green ball 8- move towards the green ball 9- pick the green ball 10- move close to the glass tube 11- drop the green ball in the glass tube 12- move the black lid 13- slightly move back 14- slightly move the black lid downwards 15- slightly grab the black lid 16- move your arm towards the black lid Q: next 5 steps? \u003cPRED\u003eA: 1- pick the tube lid 2- move your ram close to the glass tube 3- slightly move your arm down 4- release the black lid 5- move your arm back\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the tube lid Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2867355022839942862.mp4"}
+{"uid":"16778673072411806369","text":"\u003ctask:success:discrete:True\u003e\nplace the lid on the tube Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container. last 20 steps: 1- pick the yellow ball 2- drop the yellow ball in the tube 3- pick the blue ball 4- drop the blue ball into the glass tube 5- pick the orange ball 6- drop the orange ball into the glass tube 7- slightly push the green ball 8- move towards the green ball 9- pick the green ball 10- move close to the glass tube 11- drop the green ball in the glass tube 12- move the black lid 13- slightly move back 14- slightly move the black lid downwards 15- slightly grab the black lid 16- move your arm towards the black lid 17- pick the tube lid 18- move close to the tube 19- move your ram close to the glass tube 20- place the lid on the tube Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the lid on the tube\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container. last 20 steps: 1- pick the yellow ball 2- drop the yellow ball in the tube 3- pick the blue ball 4- drop the blue ball into the glass tube 5- pick the orange ball 6- drop the orange ball into the glass tube 7- slightly push the green ball 8- move towards the green ball 9- pick the green ball 10- move close to the glass tube 11- drop the green ball in the glass tube 12- move the black lid 13- slightly move back 14- slightly move the black lid downwards 15- slightly grab the black lid 16- move your arm towards the black lid 17- pick the tube lid 18- move close to the tube 19- move your ram close to the glass tube 20- place the lid on the tube Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"1183721401972349217.mp4"}
+{"uid":"11468633316387718500","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":"10243070080401183283.mp4"}
+{"uid":"16313877173975521651","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":"15007149027661451610.mp4"}
+{"uid":"7796029314136130694","text":"\u003ctask:success:discrete:True\u003e\nmove the black lid Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move the black lid\n\u003c/PRED\u003e","video":"11891326423416634157.mp4"}
+{"uid":"3592231582344149068","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the green ball\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the green ball\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container. last 20 steps: 1- pick the yellow ball 2- drop the yellow ball in the tube 3- pick the blue ball 4- drop the blue ball into the glass tube 5- pick the orange ball 6- drop the orange ball into the glass tube 7- slightly push the green ball 8- move towards the green ball Q: next 5 steps? \u003cPRED\u003eA: 1- pick the green ball 2- drop the green ball in the glass tube 3- move the black lid 4- slightly move back 5- slightly move the black lid downwards\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the green ball Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container Q: immediate next step? \u003cPRED\u003eA: pick the green ball\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container. last 20 steps: 1- pick the yellow ball 2- drop the yellow ball in the tube 3- pick the blue ball 4- drop the blue ball into the glass tube 5- pick the orange ball 6- drop the orange ball into the glass tube 7- slightly push the green ball 8- move towards the green ball Q: immediate next step? \u003cPRED\u003eA: pick the green ball\n\u003c/PRED\u003e","video":"10901627353285370342.mp4"}
+{"uid":"1889759494822964667","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the blue ball from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the blue ball from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container Q: immediate next step? \u003cPRED\u003eA: pick the blue ball from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container. last 20 steps: 1- pick the yellow ball Q: next 5 steps? \u003cPRED\u003eA: 1- pick the blue ball from the table 2- drop the blue ball into the glass tube 3- pick the orange ball 4- drop the orange ball into the glass tube 5- slightly push the green ball\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container. last 20 steps: 1- pick the yellow ball Q: immediate next step? \u003cPRED\u003eA: pick the blue ball from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the blue ball 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 blue ball from the table\n\u003c/PRED\u003e","video":"9529156275363455923.mp4"}
+{"uid":"13307957353800433096","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move your arm towards the black lid\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move your arm towards the black lid\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove your arm towards the black lid Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container. last 20 steps: 1- pick the yellow ball 2- drop the yellow ball in the tube 3- pick the blue ball 4- drop the blue ball into the glass tube 5- pick the orange ball 6- drop the orange ball into the glass tube 7- slightly push the green ball 8- move towards the green ball 9- pick the green ball 10- move close to the glass tube 11- drop the green ball in the glass tube 12- move the black lid 13- slightly move back 14- slightly move the black lid downwards 15- slightly grab the black lid Q: next 5 steps? \u003cPRED\u003eA: 1- move your arm towards the black lid 2- pick the tube lid 3- move close to the tube 4- move your ram close to the glass tube 5- slightly move your arm down\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container Q: immediate next step? \u003cPRED\u003eA: move your arm towards the black lid\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove your arm towards the black lid Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container. last 20 steps: 1- pick the yellow ball 2- drop the yellow ball in the tube 3- pick the blue ball 4- drop the blue ball into the glass tube 5- pick the orange ball 6- drop the orange ball into the glass tube 7- slightly push the green ball 8- move towards the green ball 9- pick the green ball 10- move close to the glass tube 11- drop the green ball in the glass tube 12- move the black lid 13- slightly move back 14- slightly move the black lid downwards 15- slightly grab the black lid Q: immediate next step? \u003cPRED\u003eA: move your arm towards the black lid\n\u003c/PRED\u003e","video":"4458004561186036301.mp4"}
+{"uid":"208491075869907569","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ntake out the peach ginger can Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14160352936038061490.mp4"}
+{"uid":"2152083578833178405","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the yellow ball\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the yellow ball Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6966998770871775321.mp4"}
+{"uid":"11854419220315219433","text":"\u003ctask:success:discrete:True\u003e\npick up the black lid Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the black lid\n\u003c/PRED\u003e","video":"17160226593502952387.mp4"}
+{"uid":"6750061283251369455","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container. last 20 steps: 1- pick the yellow ball 2- drop the yellow ball in the tube 3- pick the blue ball 4- drop the blue ball into the glass tube 5- pick the orange ball 6- drop the orange ball into the glass tube 7- slightly push the green ball 8- move towards the green ball 9- pick the green ball 10- move close to the glass tube 11- drop the green ball in the glass tube 12- move the black lid 13- slightly move back 14- slightly move the black lid downwards 15- slightly grab the black lid 16- move your arm towards the black lid Q: immediate next step? \u003cPRED\u003eA: pick up the black lid\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the black lid\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the black lid Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the black lid\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container Q: immediate next step? \u003cPRED\u003eA: pick up the black lid\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the black lid Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container. last 20 steps: 1- pick the yellow ball 2- drop the yellow ball in the tube 3- pick the blue ball 4- drop the blue ball into the glass tube 5- pick the orange ball 6- drop the orange ball into the glass tube 7- slightly push the green ball 8- move towards the green ball 9- pick the green ball 10- move close to the glass tube 11- drop the green ball in the glass tube 12- move the black lid 13- slightly move back 14- slightly move the black lid downwards 15- slightly grab the black lid 16- move your arm towards the black lid Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the black lid 2- move your ram close to the glass tube 3- slightly move your arm down 4- release the black lid 5- move your arm back\n\u003c/PRED\u003e","video":"4740132470586705682.mp4"}
+{"uid":"11103036765387405789","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the green packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7378686785852157389.mp4"}
+{"uid":"16320827967850215701","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the lid on the cylindrical glass vessel\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container. last 20 steps: 1- pick the yellow ball 2- drop the yellow ball in the tube 3- pick the blue ball 4- drop the blue ball into the glass tube 5- pick the orange ball 6- drop the orange ball into the glass tube 7- slightly push the green ball 8- move towards the green ball 9- pick the green ball 10- move close to the glass tube 11- drop the green ball in the glass tube 12- move the black lid 13- slightly move back 14- slightly move the black lid downwards 15- slightly grab the black lid 16- move your arm towards the black lid 17- pick the tube lid 18- move close to the tube 19- move your ram close to the glass tube Q: next 5 steps? \u003cPRED\u003eA: 1- put the lid on the cylindrical glass vessel 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container Q: immediate next step? \u003cPRED\u003eA: put the lid on the cylindrical glass vessel\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the lid on the cylindrical glass vessel Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container. last 20 steps: 1- pick the yellow ball 2- drop the yellow ball in the tube 3- pick the blue ball 4- drop the blue ball into the glass tube 5- pick the orange ball 6- drop the orange ball into the glass tube 7- slightly push the green ball 8- move towards the green ball 9- pick the green ball 10- move close to the glass tube 11- drop the green ball in the glass tube 12- move the black lid 13- slightly move back 14- slightly move the black lid downwards 15- slightly grab the black lid 16- move your arm towards the black lid 17- pick the tube lid 18- move close to the tube 19- move your ram close to the glass tube Q: immediate next step? \u003cPRED\u003eA: put the lid on the cylindrical glass vessel\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the lid on the cylindrical glass vessel\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the lid on the cylindrical glass vessel Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14459843312430080489.mp4"}
+{"uid":"16742935208900696230","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a Pistachio 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":"5017150635864249167.mp4"}
+{"uid":"848151173488238328","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: slightly move your arm down\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nslightly move your 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\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container. last 20 steps: 1- pick the yellow ball 2- drop the yellow ball in the tube 3- pick the blue ball 4- drop the blue ball into the glass tube 5- pick the orange ball 6- drop the orange ball into the glass tube 7- slightly push the green ball 8- move towards the green ball 9- pick the green ball 10- move close to the glass tube 11- drop the green ball in the glass tube 12- move the black lid 13- slightly move back 14- slightly move the black lid downwards 15- slightly grab the black lid 16- move your arm towards the black lid 17- pick the tube lid 18- move close to the tube Q: immediate next step? \u003cPRED\u003eA: slightly move your arm down\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: slightly move your arm down\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nslightly move your 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container. last 20 steps: 1- pick the yellow ball 2- drop the yellow ball in the tube 3- pick the blue ball 4- drop the blue ball into the glass tube 5- pick the orange ball 6- drop the orange ball into the glass tube 7- slightly push the green ball 8- move towards the green ball 9- pick the green ball 10- move close to the glass tube 11- drop the green ball in the glass tube 12- move the black lid 13- slightly move back 14- slightly move the black lid downwards 15- slightly grab the black lid 16- move your arm towards the black lid 17- pick the tube lid 18- move close to the tube Q: next 5 steps? \u003cPRED\u003eA: 1- slightly move your arm down 2- move your arm back 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container Q: immediate next step? \u003cPRED\u003eA: slightly move your arm down\n\u003c/PRED\u003e","video":"1846635972865293587.mp4"}
+{"uid":"15069805038706773697","text":"\u003ctask:success:discrete:True\u003e\nmove your ram close to the glass tube Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 ram close to the glass tube\n\u003c/PRED\u003e","video":"8561600131924597404.mp4"}
+{"uid":"9699871332169939698","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container. last 20 steps: 1- pick the yellow ball 2- drop the yellow ball in the tube 3- pick the blue ball 4- drop the blue ball into the glass tube 5- pick the orange ball 6- drop the orange ball into the glass tube 7- slightly push the green ball 8- move towards the green ball 9- pick the green ball 10- move close to the glass tube 11- drop the green ball in the glass tube Q: next 5 steps? \u003cPRED\u003eA: 1- move close to the tube lid 2- slightly move back 3- slightly move the black lid downwards 4- slightly grab the black lid 5- move your arm towards the black lid\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move close to the tube lid\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container. last 20 steps: 1- pick the yellow ball 2- drop the yellow ball in the tube 3- pick the blue ball 4- drop the blue ball into the glass tube 5- pick the orange ball 6- drop the orange ball into the glass tube 7- slightly push the green ball 8- move towards the green ball 9- pick the green ball 10- move close to the glass tube 11- drop the green ball in the glass tube Q: immediate next step? \u003cPRED\u003eA: move close to the tube lid\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove close to the tube lid Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container Q: immediate next step? \u003cPRED\u003eA: move close to the tube lid\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove close to the tube lid Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move close to the tube lid\n\u003c/PRED\u003e","video":"7232887531890835.mp4"}
+{"uid":"2061965845441106893","text":"\u003ctask:success:discrete:True\u003e\nslightly move back Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: slightly move back\n\u003c/PRED\u003e","video":"5336693056071769258.mp4"}
+{"uid":"6340480389019449404","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the lid on the tube Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the lid on the tube Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container Q: immediate next step? \u003cPRED\u003eA: place the lid on the tube\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the lid on the tube\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the lid on the tube\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container. last 20 steps: 1- pick the yellow ball 2- drop the yellow ball in the tube 3- pick the blue ball 4- drop the blue ball into the glass tube 5- pick the orange ball 6- drop the orange ball into the glass tube 7- slightly push the green ball 8- move towards the green ball 9- pick the green ball 10- move close to the glass tube 11- drop the green ball in the glass tube 12- move the black lid 13- slightly move back 14- slightly move the black lid downwards 15- slightly grab the black lid 16- move your arm towards the black lid 17- pick the tube lid 18- move close to the tube 19- move your ram close to the glass tube Q: immediate next step? \u003cPRED\u003eA: place the lid on the tube\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container. last 20 steps: 1- pick the yellow ball 2- drop the yellow ball in the tube 3- pick the blue ball 4- drop the blue ball into the glass tube 5- pick the orange ball 6- drop the orange ball into the glass tube 7- slightly push the green ball 8- move towards the green ball 9- pick the green ball 10- move close to the glass tube 11- drop the green ball in the glass tube 12- move the black lid 13- slightly move back 14- slightly move the black lid downwards 15- slightly grab the black lid 16- move your arm towards the black lid 17- pick the tube lid 18- move close to the tube 19- move your ram close to the glass tube Q: next 5 steps? \u003cPRED\u003eA: 1- place the lid on the tube 2- done\n\u003c/PRED\u003e","video":"7010757771813465535.mp4"}
+{"uid":"14148487000732752670","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the orange ball\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container. last 20 steps: 1- pick the yellow ball 2- drop the yellow ball in the tube 3- pick the blue ball 4- drop the blue ball into the glass tube Q: next 5 steps? \u003cPRED\u003eA: 1- pick the orange ball 2- drop the orange ball into the glass tube 3- slightly push the green ball 4- move towards the green ball 5- pick the green ball\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container Q: immediate next step? \u003cPRED\u003eA: pick the orange ball\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the orange ball\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container. last 20 steps: 1- pick the yellow ball 2- drop the yellow ball in the tube 3- pick the blue ball 4- drop the blue ball into the glass tube Q: immediate next step? \u003cPRED\u003eA: pick the orange ball\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the orange ball Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\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 orange ball Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17342335975837546927.mp4"}
+{"uid":"12358666742223138337","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop chocolate 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","video":"8583455414489885795.mp4"}
+{"uid":"12595624407142941882","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container. last 20 steps: 1- pick the yellow ball 2- drop the yellow ball in the tube Q: immediate next step? \u003cPRED\u003eA: drop the ball in the tube\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container Q: immediate next step? \u003cPRED\u003eA: drop the ball in the tube\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the ball in the tube Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container. last 20 steps: 1- pick the yellow ball 2- drop the yellow ball in the tube Q: next 5 steps? \u003cPRED\u003eA: 1- drop the ball in the tube 2- drop the orange ball into the glass tube 3- slightly push the green ball 4- move towards the green ball 5- pick the green ball\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the ball in the tube Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 ball in the tube\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the ball in the tube\n\u003c/PRED\u003e","video":"6840032133662653302.mp4"}
+{"uid":"8797552505629600943","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":"231134673856728190.mp4"}
+{"uid":"10310458465459251781","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the black lid Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove the black lid Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container Q: immediate next step? \u003cPRED\u003eA: move the black lid\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container. last 20 steps: 1- pick the yellow ball 2- drop the yellow ball in the tube 3- pick the blue ball 4- drop the blue ball into the glass tube 5- pick the orange ball 6- drop the orange ball into the glass tube 7- slightly push the green ball 8- move towards the green ball 9- pick the green ball 10- move close to the glass tube Q: immediate next step? \u003cPRED\u003eA: move the black lid\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the black lid\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container. last 20 steps: 1- pick the yellow ball 2- drop the yellow ball in the tube 3- pick the blue ball 4- drop the blue ball into the glass tube 5- pick the orange ball 6- drop the orange ball into the glass tube 7- slightly push the green ball 8- move towards the green ball 9- pick the green ball 10- move close to the glass tube Q: next 5 steps? \u003cPRED\u003eA: 1- move the black lid 2- slightly move the black lid downwards 3- slightly grab the black lid 4- move your arm towards the black lid 5- pick the tube lid\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the black lid\n\u003c/PRED\u003e","video":"17519690888932810847.mp4"}
+{"uid":"8624968852216653476","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove towards the yellow chip bag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12837980750052432903.mp4"}
+{"uid":"9728917034531184614","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the apple in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17589788561519899415.mp4"}
+{"uid":"5620513800545739693","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":"10815073007648566814.mp4"}
+{"uid":"4421193194503662252","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the 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":"11295274343385836381.mp4"}
+{"uid":"7807128987761642730","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the green ball\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the green ball Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11729208031475726096.mp4"}
+{"uid":"11970113291100633697","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move towards the green ball\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove towards the green ball Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16971438588425811131.mp4"}
+{"uid":"8135941400891773612","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"91691759239172229.mp4"}
+{"uid":"11777433762413780788","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the sticky notes on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5099401921464995594.mp4"}
+{"uid":"10950194969283073289","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the orange ball into the glass tube\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container. last 20 steps: 1- pick the yellow ball 2- drop the yellow ball in the tube 3- pick the blue ball 4- drop the blue ball into the glass tube Q: next 5 steps? \u003cPRED\u003eA: 1- drop the orange ball into the glass tube 2- move towards the green ball 3- pick the green ball 4- move close to the glass tube 5- drop the green ball in the glass tube\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the orange ball into the glass tube Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 ball into the glass tube\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container. last 20 steps: 1- pick the yellow ball 2- drop the yellow ball in the tube 3- pick the blue ball 4- drop the blue ball into the glass tube Q: immediate next step? \u003cPRED\u003eA: drop the orange ball into the glass tube\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the orange ball into the glass tube Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container Q: immediate next step? \u003cPRED\u003eA: drop the orange ball into the glass tube\n\u003c/PRED\u003e","video":"8351538095499614435.mp4"}
+{"uid":"15090482231862244785","text":"\u003ctask:success:discrete:False\u003e\nmove close to the tube Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container Q: immediate next step? \u003cPRED\u003eA: move close to the tube\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove close to the tube Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 tube\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container. last 20 steps: 1- pick the yellow ball 2- drop the yellow ball in the tube 3- pick the blue ball 4- drop the blue ball into the glass tube 5- pick the orange ball 6- drop the orange ball into the glass tube 7- slightly push the green ball 8- move towards the green ball 9- pick the green ball 10- move close to the glass tube 11- drop the green ball in the glass tube 12- move the black lid 13- slightly move back 14- slightly move the black lid downwards 15- slightly grab the black lid 16- move your arm towards the black lid Q: next 5 steps? \u003cPRED\u003eA: 1- move close to the tube 2- move your ram close to the glass tube 3- slightly move your arm down 4- release the black lid 5- move your arm back\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container. last 20 steps: 1- pick the yellow ball 2- drop the yellow ball in the tube 3- pick the blue ball 4- drop the blue ball into the glass tube 5- pick the orange ball 6- drop the orange ball into the glass tube 7- slightly push the green ball 8- move towards the green ball 9- pick the green ball 10- move close to the glass tube 11- drop the green ball in the glass tube 12- move the black lid 13- slightly move back 14- slightly move the black lid downwards 15- slightly grab the black lid 16- move your arm towards the black lid Q: immediate next step? \u003cPRED\u003eA: move close to the tube\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move close to the tube\n\u003c/PRED\u003e","video":"10240993540474394439.mp4"}
+{"uid":"12169769539811191575","text":"\u003ctask:success:discrete:False\u003e\nmove your arm back Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move your arm back\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container. last 20 steps: 1- pick the yellow ball 2- drop the yellow ball in the tube 3- pick the blue ball 4- drop the blue ball into the glass tube 5- pick the orange ball 6- drop the orange ball into the glass tube 7- slightly push the green ball 8- move towards the green ball 9- pick the green ball 10- move close to the glass tube 11- drop the green ball in the glass tube 12- move the black lid 13- slightly move back 14- slightly move the black lid downwards 15- slightly grab the black lid 16- move your arm towards the black lid 17- pick the tube lid 18- move close to the tube 19- move your ram close to the glass tube 20- slightly move your arm down Q: immediate next step? \u003cPRED\u003eA: move your arm back\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove your arm back Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container Q: immediate next step? \u003cPRED\u003eA: move your arm back\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move your arm back\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container. last 20 steps: 1- pick the yellow ball 2- drop the yellow ball in the tube 3- pick the blue ball 4- drop the blue ball into the glass tube 5- pick the orange ball 6- drop the orange ball into the glass tube 7- slightly push the green ball 8- move towards the green ball 9- pick the green ball 10- move close to the glass tube 11- drop the green ball in the glass tube 12- move the black lid 13- slightly move back 14- slightly move the black lid downwards 15- slightly grab the black lid 16- move your arm towards the black lid 17- pick the tube lid 18- move close to the tube 19- move your ram close to the glass tube 20- slightly move your arm down Q: next 5 steps? \u003cPRED\u003eA: 1- move your arm back 2- done\n\u003c/PRED\u003e","video":"1642570126942040567.mp4"}
+{"uid":"17942540214772409329","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput cap in 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":"5187786180111739005.mp4"}
+{"uid":"12069635134803604474","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":"6742138144712383650.mp4"}
+{"uid":"2086894011976378187","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container. last 20 steps: 1- pick the yellow ball 2- drop the yellow ball in the tube 3- pick the blue ball 4- drop the blue ball into the glass tube 5- pick the orange ball 6- drop the orange ball into the glass tube 7- slightly push the green ball 8- move towards the green ball 9- pick the green ball 10- move close to the glass tube 11- drop the green ball in the glass tube 12- move the black lid 13- slightly move back 14- slightly move the black lid downwards 15- slightly grab the black lid 16- move your arm towards the black lid 17- pick the tube lid 18- move close to the tube Q: next 5 steps? \u003cPRED\u003eA: 1- move your ram close to the glass tube 2- release the black lid 3- move your arm back 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container Q: immediate next step? \u003cPRED\u003eA: move your ram close to the glass tube\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move your ram close to the glass tube\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove your ram close to the glass tube Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container. last 20 steps: 1- pick the yellow ball 2- drop the yellow ball in the tube 3- pick the blue ball 4- drop the blue ball into the glass tube 5- pick the orange ball 6- drop the orange ball into the glass tube 7- slightly push the green ball 8- move towards the green ball 9- pick the green ball 10- move close to the glass tube 11- drop the green ball in the glass tube 12- move the black lid 13- slightly move back 14- slightly move the black lid downwards 15- slightly grab the black lid 16- move your arm towards the black lid 17- pick the tube lid 18- move close to the tube Q: immediate next step? \u003cPRED\u003eA: move your ram close to the glass tube\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move your ram close to the glass tube\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove your ram close to the glass tube Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11301169207980187624.mp4"}
+{"uid":"12388785092228685537","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":"16191709592322042974.mp4"}
+{"uid":"7263712482769467421","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container. last 20 steps: 1- pick the yellow ball 2- drop the yellow ball in the tube 3- pick the blue ball 4- drop the blue ball into the glass tube 5- pick the orange ball 6- drop the orange ball into the glass tube 7- slightly push the green ball 8- move towards the green ball 9- pick the green ball 10- move close to the glass tube 11- drop the green ball in the glass tube 12- move the black lid Q: next 5 steps? \u003cPRED\u003eA: 1- slightly move the black lid downwards 2- move your arm towards the black lid 3- pick the tube lid 4- move close to the tube 5- move your ram close to the glass tube\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nslightly move the black lid downwards Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: slightly move the black lid downwards\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container Q: immediate next step? \u003cPRED\u003eA: slightly move the black lid downwards\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container. last 20 steps: 1- pick the yellow ball 2- drop the yellow ball in the tube 3- pick the blue ball 4- drop the blue ball into the glass tube 5- pick the orange ball 6- drop the orange ball into the glass tube 7- slightly push the green ball 8- move towards the green ball 9- pick the green ball 10- move close to the glass tube 11- drop the green ball in the glass tube 12- move the black lid Q: immediate next step? \u003cPRED\u003eA: slightly move the black lid downwards\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: slightly move the black lid downwards\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nslightly move the black lid downwards Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7587834051624147300.mp4"}
+{"uid":"6660268307716333732","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move towards the green ball\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove towards the green ball Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container Q: immediate next step? \u003cPRED\u003eA: move towards the green ball\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container. last 20 steps: 1- pick the yellow ball 2- drop the yellow ball in the tube 3- pick the blue ball 4- drop the blue ball into the glass tube 5- pick the orange ball 6- drop the orange ball into the glass tube 7- slightly push the green ball Q: immediate next step? \u003cPRED\u003eA: move towards the green ball\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove towards the green ball Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move towards the green ball\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container. last 20 steps: 1- pick the yellow ball 2- drop the yellow ball in the tube 3- pick the blue ball 4- drop the blue ball into the glass tube 5- pick the orange ball 6- drop the orange ball into the glass tube 7- slightly push the green ball Q: next 5 steps? \u003cPRED\u003eA: 1- move towards the green ball 2- move close to the glass tube 3- drop the green ball in the glass tube 4- move the black lid 5- slightly move back\n\u003c/PRED\u003e","video":"2284107000694487620.mp4"}
+{"uid":"12900976768386351216","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the blue ball in the cylindrical glass vessel\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the blue ball in the cylindrical glass vessel Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16238865632920616303.mp4"}
+{"uid":"8132028965779987972","text":"\u003ctask:success:discrete:False\u003e\nmove close to the glass tube Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container. last 20 steps: 1- pick the yellow ball 2- drop the yellow ball in the tube 3- pick the blue ball 4- drop the blue ball into the glass tube 5- pick the orange ball 6- drop the orange ball into the glass tube 7- slightly push the green ball 8- move towards the green ball Q: next 5 steps? \u003cPRED\u003eA: 1- move close to the glass tube 2- move the black lid 3- slightly move back 4- slightly move the black lid downwards 5- slightly grab the black lid\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove close to the glass tube Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container Q: immediate next step? \u003cPRED\u003eA: move close to the glass tube\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move close to the glass tube\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move close to the glass tube\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container. last 20 steps: 1- pick the yellow ball 2- drop the yellow ball in the tube 3- pick the blue ball 4- drop the blue ball into the glass tube 5- pick the orange ball 6- drop the orange ball into the glass tube 7- slightly push the green ball 8- move towards the green ball Q: immediate next step? \u003cPRED\u003eA: move close to the glass tube\n\u003c/PRED\u003e","video":"12790176822745051895.mp4"}
+{"uid":"11457917390529511994","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the pen 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":"7498469764979803641.mp4"}
+{"uid":"12447520577578149600","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":"1761339626582421485.mp4"}
+{"uid":"13097187514436662155","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drag the tube lid\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrag the tube lid Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10626728868172133327.mp4"}
+{"uid":"12303886369477975986","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachio in right cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6849938721364942115.mp4"}
+{"uid":"17337599504902179165","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the blue ball from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the blue ball from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17589955428646590133.mp4"}
+{"uid":"5374651375790754010","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace chocolate 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":"17082976862398949163.mp4"}
+{"uid":"6745596963619719677","text":"\u003ctask:success:discrete:True\u003e\nmove close to the glass tube Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 close to the glass tube\n\u003c/PRED\u003e","video":"9973513910858426697.mp4"}
+{"uid":"17385590955451527760","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the bottom right glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12864124860836855970.mp4"}
+{"uid":"1524126703288235933","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":"13136161483921281393.mp4"}
+{"uid":"7320747372188078225","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container. last 20 steps: 1- pick the yellow ball Q: next 5 steps? \u003cPRED\u003eA: 1- pick the blue ball 2- pick the orange ball 3- drop the orange ball into the glass tube 4- slightly push the green ball 5- move towards the green ball\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container Q: immediate next step? \u003cPRED\u003eA: pick the blue ball\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container. last 20 steps: 1- pick the yellow ball Q: immediate next step? \u003cPRED\u003eA: pick the blue ball\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the blue ball Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\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 blue ball Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 blue ball\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the blue ball\n\u003c/PRED\u003e","video":"799563759145435.mp4"}
+{"uid":"8403780389513218741","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- drop the yellow ball into the glass tube 2- drop the blue ball into the glass tube 3- pick the orange ball 4- drop the orange ball into the glass tube 5- slightly push the green ball\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the yellow ball into the glass tube\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the yellow ball into the glass tube Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED: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 yellow ball into the glass tube Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: drop the yellow ball into the glass tube\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container Q: immediate next step? \u003cPRED\u003eA: drop the yellow ball into the glass tube\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the yellow ball into the glass tube\n\u003c/PRED\u003e","video":"8352837047291940755.mp4"}
+{"uid":"866724255639665629","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick the yellow ball Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 yellow ball\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick the yellow ball 2- pick the blue ball 3- drop the blue ball into the glass tube 4- pick the orange ball 5- drop the orange ball into the glass tube\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the yellow ball Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick the yellow ball\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container Q: immediate next step? \u003cPRED\u003eA: pick the yellow ball\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the yellow ball\n\u003c/PRED\u003e","video":"16563629642554874024.mp4"}
+{"uid":"1170651812337322321","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the 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":"6050695659108337068.mp4"}
+{"uid":"14705159944914695016","text":"\u003ctask:success:discrete:True\u003e\npick the green ball Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the green ball\n\u003c/PRED\u003e","video":"11720728336844159357.mp4"}
+{"uid":"961443380858741128","text":"\u003ctask:success:discrete:True\u003e\nmove close to the tube Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 close to the tube\n\u003c/PRED\u003e","video":"15079439960795567897.mp4"}
+{"uid":"7005679270329254734","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container. last 20 steps: 1- pick the yellow ball 2- drop the yellow ball in the tube 3- pick the blue ball 4- drop the blue ball into the glass tube 5- pick the orange ball 6- drop the orange ball into the glass tube 7- slightly push the green ball 8- move towards the green ball 9- pick the green ball 10- move close to the glass tube 11- drop the green ball in the glass tube 12- move the black lid 13- slightly move back 14- slightly move the black lid downwards 15- slightly grab the black lid 16- move your arm towards the black lid 17- pick the tube lid 18- move close to the tube 19- move your ram close to the glass tube 20- put the lid on the cylindrical glass vessel Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the lid on the cylindrical glass vessel\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container. last 20 steps: 1- pick the yellow ball 2- drop the yellow ball in the tube 3- pick the blue ball 4- drop the blue ball into the glass tube 5- pick the orange ball 6- drop the orange ball into the glass tube 7- slightly push the green ball 8- move towards the green ball 9- pick the green ball 10- move close to the glass tube 11- drop the green ball in the glass tube 12- move the black lid 13- slightly move back 14- slightly move the black lid downwards 15- slightly grab the black lid 16- move your arm towards the black lid 17- pick the tube lid 18- move close to the tube 19- move your ram close to the glass tube 20- put the lid on the cylindrical glass vessel Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the lid on the cylindrical glass vessel Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13493575351642303611.mp4"}
+{"uid":"3657884448429779126","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drag the tube lid\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrag the tube lid Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container. last 20 steps: 1- pick the yellow ball 2- drop the yellow ball in the tube 3- pick the blue ball 4- drop the blue ball into the glass tube 5- pick the orange ball 6- drop the orange ball into the glass tube 7- slightly push the green ball 8- move towards the green ball 9- pick the green ball 10- move close to the glass tube 11- drop the green ball in the glass tube Q: immediate next step? \u003cPRED\u003eA: drag the tube lid\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container Q: immediate next step? \u003cPRED\u003eA: drag the tube lid\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drag the tube lid\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container. last 20 steps: 1- pick the yellow ball 2- drop the yellow ball in the tube 3- pick the blue ball 4- drop the blue ball into the glass tube 5- pick the orange ball 6- drop the orange ball into the glass tube 7- slightly push the green ball 8- move towards the green ball 9- pick the green ball 10- move close to the glass tube 11- drop the green ball in the glass tube Q: next 5 steps? \u003cPRED\u003eA: 1- drag the tube lid 2- slightly move the black lid downwards 3- slightly grab the black lid 4- move your arm towards the black lid 5- pick the tube lid\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrag the tube lid Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10341985518709183205.mp4"}
+{"uid":"1707118334967869311","text":"\u003ctask:success:discrete:True\u003e\ndrop the green ball in the tube Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the green ball in the tube\n\u003c/PRED\u003e","video":"17477797970522375682.mp4"}
+{"uid":"2278129144770307476","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move close to the tube lid\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove close to the tube lid Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2741946861055442523.mp4"}
+{"uid":"11626256434778151487","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: release the black lid\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: release the black lid\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container. last 20 steps: 1- pick the yellow ball 2- drop the yellow ball in the tube 3- pick the blue ball 4- drop the blue ball into the glass tube 5- pick the orange ball 6- drop the orange ball into the glass tube 7- slightly push the green ball 8- move towards the green ball 9- pick the green ball 10- move close to the glass tube 11- drop the green ball in the glass tube 12- move the black lid 13- slightly move back 14- slightly move the black lid downwards 15- slightly grab the black lid 16- move your arm towards the black lid 17- pick the tube lid 18- move close to the tube 19- move your ram close to the glass tube Q: next 5 steps? \u003cPRED\u003eA: 1- release the black lid 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nrelease the black lid Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container. last 20 steps: 1- pick the yellow ball 2- drop the yellow ball in the tube 3- pick the blue ball 4- drop the blue ball into the glass tube 5- pick the orange ball 6- drop the orange ball into the glass tube 7- slightly push the green ball 8- move towards the green ball 9- pick the green ball 10- move close to the glass tube 11- drop the green ball in the glass tube 12- move the black lid 13- slightly move back 14- slightly move the black lid downwards 15- slightly grab the black lid 16- move your arm towards the black lid 17- pick the tube lid 18- move close to the tube 19- move your ram close to the glass tube Q: immediate next step? \u003cPRED\u003eA: release the black lid\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nrelease the black lid Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container Q: immediate next step? \u003cPRED\u003eA: release the black lid\n\u003c/PRED\u003e","video":"1971804393382509929.mp4"}
+{"uid":"16153695271672039114","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the blue pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13228873761951039538.mp4"}
+{"uid":"8697448979019535745","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container. last 20 steps: 1- pick the yellow ball 2- drop the yellow ball in the tube 3- pick the blue ball 4- drop the blue ball into the glass tube 5- pick the orange ball 6- drop the orange ball into the glass tube 7- slightly push the green ball 8- move towards the green ball 9- pick the green ball 10- move close to the glass tube 11- drop the green ball in the glass tube Q: next 5 steps? \u003cPRED\u003eA: 1- slightly move back 2- slightly grab the black lid 3- move your arm towards the black lid 4- pick the tube lid 5- move close to the tube\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: slightly move back\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nslightly move back Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: slightly move back\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nslightly move back Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container. last 20 steps: 1- pick the yellow ball 2- drop the yellow ball in the tube 3- pick the blue ball 4- drop the blue ball into the glass tube 5- pick the orange ball 6- drop the orange ball into the glass tube 7- slightly push the green ball 8- move towards the green ball 9- pick the green ball 10- move close to the glass tube 11- drop the green ball in the glass tube Q: immediate next step? \u003cPRED\u003eA: slightly move back\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container Q: immediate next step? \u003cPRED\u003eA: slightly move back\n\u003c/PRED\u003e","video":"15636543714099801832.mp4"}
+{"uid":"8099064010117229884","text":"\u003ctask:success:discrete:True\u003e\npick the yellow ball Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 yellow ball\n\u003c/PRED\u003e","video":"4618387646994150320.mp4"}
+{"uid":"13300140513083781591","text":"\u003ctask:success:discrete:True\u003e\nput the orange ball in the cylindrical glass vessel Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 ball in the cylindrical glass vessel\n\u003c/PRED\u003e","video":"3839548485146679638.mp4"}
+{"uid":"9886670917259811590","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move your arm towards the glass tube\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove your arm towards the glass tube Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED: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 towards the glass tube Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move your arm towards the glass tube\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container. last 20 steps: 1- pick the yellow ball 2- drop the yellow ball in the tube 3- pick the blue ball 4- drop the blue ball into the glass tube 5- pick the orange ball 6- drop the orange ball into the glass tube 7- slightly push the green ball 8- move towards the green ball 9- pick the green ball 10- move close to the glass tube 11- drop the green ball in the glass tube 12- move the black lid 13- slightly move back 14- slightly move the black lid downwards 15- slightly grab the black lid 16- move your arm towards the black lid 17- pick the tube lid Q: next 5 steps? \u003cPRED\u003eA: 1- move your arm towards the glass tube 2- slightly move your arm down 3- release the black lid 4- move your arm back 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container. last 20 steps: 1- pick the yellow ball 2- drop the yellow ball in the tube 3- pick the blue ball 4- drop the blue ball into the glass tube 5- pick the orange ball 6- drop the orange ball into the glass tube 7- slightly push the green ball 8- move towards the green ball 9- pick the green ball 10- move close to the glass tube 11- drop the green ball in the glass tube 12- move the black lid 13- slightly move back 14- slightly move the black lid downwards 15- slightly grab the black lid 16- move your arm towards the black lid 17- pick the tube lid Q: immediate next step? \u003cPRED\u003eA: move your arm towards the glass tube\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: return the balls back into the container, then put the lid back on the container Q: immediate next step? \u003cPRED\u003eA: move your arm towards the glass tube\n\u003c/PRED\u003e","video":"15013116445971107689.mp4"}
+{"uid":"13875241193341187222","text":"\u003ctask:success:discrete:True\u003e\npick the tube lid Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the tube lid\n\u003c/PRED\u003e","video":"12518028894092333033.mp4"}
+{"uid":"5406133330276792016","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput water bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1595057745532485227.mp4"}
+{"uid":"7699431578066581459","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npush the chair into the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14443321768813747140.mp4"}
+{"uid":"7269238327515624160","text":"\u003ctask:success:discrete:True\u003e\nplace the apple 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 apple into the bowl\n\u003c/PRED\u003e","video":"6776454425762657557.mp4"}
+{"uid":"11093100550210287275","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from top draw then place them in the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from top draw then place them in the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- put the orange into bowl 3- place the apple into the bowl 4- put the orange into bowl 5- put the apple into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\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:planning:freeform\u003e\ncurrent goal is: Please remove the fruits from top draw then place them in the bowl. Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e","video":"3945271221960605443.mp4"}
+{"uid":"14185072378707242591","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a 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":"10764712319638134164.mp4"}
+{"uid":"1193267539484077690","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":"8708576419645812415.mp4"}
+{"uid":"2432029974705641514","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the apple into the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the apple into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17161386947616603739.mp4"}
+{"uid":"18413641084829944280","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nArrange the packet 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":"17617483566792154877.mp4"}
+{"uid":"4450646344909492830","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the apple into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the fruits from top draw then place them in the bowl. Q: immediate next step? \u003cPRED\u003eA: put the apple into the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the apple into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the apple into the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from top draw then place them in the bowl. last 20 steps: 1- open the drawer 2- put the orange into bowl 3- place the apple into the bowl 4- put the orange into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the apple into the bowl 2- place the fruit into the bowl 3- place the apple into the bowl 4- place the apple into the bowl 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from top draw then place them in the bowl. last 20 steps: 1- open the drawer 2- put the orange into bowl 3- place the apple into the bowl 4- put the orange into bowl Q: immediate next step? \u003cPRED\u003eA: put the apple into the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the apple into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10749526944331390400.mp4"}
+{"uid":"18024841029413602803","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the black pen in the left side cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6126736673760873414.mp4"}
+{"uid":"1368752046560613011","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":"17093460975511284444.mp4"}
+{"uid":"10925392336860536441","text":"\u003ctask:success:discrete:True\u003e\nplace the fruit 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 fruit into the bowl\n\u003c/PRED\u003e","video":"11263793219917236302.mp4"}
+{"uid":"11785362917746812651","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the apple into the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the apple into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the apple into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the apple into the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from top draw then place them in the bowl. last 20 steps: 1- open the drawer 2- put the orange into bowl 3- place the apple into the bowl 4- put the orange into bowl 5- put the apple into the bowl 6- place the fruit into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the apple into the bowl 2- place the apple into the bowl 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the fruits from top draw then place them in the bowl. Q: immediate next step? \u003cPRED\u003eA: place the apple into the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from top draw then place them in the bowl. last 20 steps: 1- open the drawer 2- put the orange into bowl 3- place the apple into the bowl 4- put the orange into bowl 5- put the apple into the bowl 6- place the fruit into the bowl Q: immediate next step? \u003cPRED\u003eA: place the apple into the bowl\n\u003c/PRED\u003e","video":"17570121669786886599.mp4"}
+{"uid":"8610309910731095984","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from top draw then place them in the bowl. last 20 steps: 1- open the drawer 2- put the orange into bowl 3- place the apple into the bowl Q: immediate next step? \u003cPRED\u003eA: put the orange into bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange into bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from top draw then place them in the bowl. last 20 steps: 1- open the drawer 2- put the orange into bowl 3- place the apple into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange into bowl 2- put the apple into the bowl 3- place the fruit into the bowl 4- place the apple into the bowl 5- place the apple into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange into bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the fruits from top draw then place them in the bowl. Q: immediate next step? \u003cPRED\u003eA: put the orange into bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange into bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange into bowl\n\u003c/PRED\u003e","video":"390828619894201086.mp4"}
+{"uid":"9155064724299858419","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the fruit into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from top draw then place them in the bowl. last 20 steps: 1- open the drawer 2- put the orange into bowl 3- place the apple into the bowl 4- put the orange into bowl 5- put the apple into the bowl Q: immediate next step? \u003cPRED\u003eA: place the fruit into the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the fruit into the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the fruits from top draw then place them in the bowl. Q: immediate next step? \u003cPRED\u003eA: place the fruit into the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from top draw then place them in the bowl. last 20 steps: 1- open the drawer 2- put the orange into bowl 3- place the apple into the bowl 4- put the orange into bowl 5- put the apple into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the fruit into the bowl 2- place the apple into the bowl 3- place the apple into the bowl 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the fruit into the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the fruit into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6988396585857350929.mp4"}
+{"uid":"11080527332746452052","text":"\u003ctask:success:discrete:True\u003e\nput the orange into bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the orange into bowl\n\u003c/PRED\u003e","video":"4466092844966115341.mp4"}
+{"uid":"10448704739510644185","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the yellow packet in the top tray of the trolley Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6481047436527963697.mp4"}
+{"uid":"4576263003922147458","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the apple into the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the apple into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17997422578710354166.mp4"}
+{"uid":"694874135613438106","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the fruits from top draw then place them in the bowl. Q: immediate next step? \u003cPRED\u003eA: place the apple into the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the apple 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: place the apple into the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from top draw then place them in the bowl. last 20 steps: 1- open the drawer 2- put the orange into bowl 3- place the apple into the bowl 4- put the orange into bowl 5- put the apple into the bowl 6- place the fruit into the bowl 7- place the apple into the bowl Q: immediate next step? \u003cPRED\u003eA: place the apple into the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the apple into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the apple into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from top draw then place them in the bowl. last 20 steps: 1- open the drawer 2- put the orange into bowl 3- place the apple into the bowl 4- put the orange into bowl 5- put the apple into the bowl 6- place the fruit into the bowl 7- place the apple into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the apple into the bowl 2- done\n\u003c/PRED\u003e","video":"5780239252510627724.mp4"}
+{"uid":"10259134165373619377","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the book 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":"16802104374319869449.mp4"}
+{"uid":"14332415743112149094","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the apple into the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the apple 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:planning:freeform\u003e\ncurrent goal is: Please remove the fruits from top draw then place them in the bowl. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from top draw then place them in the bowl. last 20 steps: 1- open the drawer 2- put the orange into bowl 3- place the apple into the bowl 4- put the orange into bowl 5- put the apple into the bowl 6- place the fruit into the bowl 7- place the apple into the bowl 8- place the apple into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from top draw then place them in the bowl. last 20 steps: 1- open the drawer 2- put the orange into bowl 3- place the apple into the bowl 4- put the orange into bowl 5- put the apple into the bowl 6- place the fruit into the bowl 7- place the apple into the bowl 8- place the apple into the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"3199346410945149730.mp4"}
+{"uid":"3962701449579788662","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":"3180550123359388447.mp4"}
+{"uid":"9319324946306826154","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the paper clip 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":"5068207916836325906.mp4"}
+{"uid":"3023963278469975081","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the orange into bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the orange into bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3398577012408998337.mp4"}
+{"uid":"9256346974416502502","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange into bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange into bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange into bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the fruits from top draw then place them in the bowl. Q: immediate next step? \u003cPRED\u003eA: put the orange into bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from top draw then place them in the bowl. last 20 steps: 1- open the drawer Q: immediate next step? \u003cPRED\u003eA: put the orange into bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange into bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from top draw then place them in the bowl. last 20 steps: 1- open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange into bowl 2- place the apple into the bowl 3- put the orange into bowl 4- put the apple into the bowl 5- place the fruit into the bowl\n\u003c/PRED\u003e","video":"11632564674332689657.mp4"}
+{"uid":"13706561510657373033","text":"\u003ctask:success:discrete:False\u003e\nplace the apple 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 apple into the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from top draw then place them in the bowl. last 20 steps: 1- open the drawer 2- put the orange into bowl Q: immediate next step? \u003cPRED\u003eA: place the apple into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the apple into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the fruits from top draw then place them in the bowl. Q: immediate next step? \u003cPRED\u003eA: place the apple into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the apple into the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from top draw then place them in the bowl. last 20 steps: 1- open the drawer 2- put the orange into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the apple into the bowl 2- put the orange into bowl 3- put the apple into the bowl 4- place the fruit into the bowl 5- place the apple into the bowl\n\u003c/PRED\u003e","video":"1683585673836115985.mp4"}
+{"uid":"11952734382171156111","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag and cap on the desk and hang them on the coat rack. last 20 steps: 1- move towards the table 2- pick the bag Q: next 5 steps? \u003cPRED\u003eA: 1- move the green bag close to the stand 2- hang the green bag on the stand 3- move to the left 4- move close to the cap 5- pick the cap\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the green bag close to the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the green bag close to the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove the green bag close to the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the green bag close to the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the bag and cap on the desk and hang them on the coat rack Q: immediate next step? \u003cPRED\u003eA: move the green bag close to the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag and cap on the desk and hang them on the coat rack. last 20 steps: 1- move towards the table 2- pick the bag Q: immediate next step? \u003cPRED\u003eA: move the green bag close to the stand\n\u003c/PRED\u003e","video":"5180650376695992269.mp4"}
+{"uid":"8370836254571501654","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move the green bag close to the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove the green bag close to the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13388477791174812630.mp4"}
+{"uid":"18275368006774642028","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move towards the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove towards 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":"11665737172645122990.mp4"}
+{"uid":"7471057569083485161","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5861152267150528555.mp4"}
+{"uid":"17446977848354927151","text":"\u003ctask:success:discrete:True\u003e\nhang the bag on the coat rack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: hang the bag on the coat rack\n\u003c/PRED\u003e","video":"8315230276655789490.mp4"}
+{"uid":"15514539085468878815","text":"\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: Can you head into the MK and grab me a beef stick and peanut butter pack. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you head into the MK and grab me a beef stick and peanut butter pack. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- put packet on the table 3- put packet on the table 4- close the drawer 5- put packets on the leftside\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: Can you head into the MK and grab me a beef stick and peanut butter pack Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e","video":"2070900942319501119.mp4"}
+{"uid":"6003004954241436778","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the knob 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":"3990871497814077473.mp4"}
+{"uid":"7953420768662712244","text":"\u003ctask:success:discrete:True\u003e\nEnter the hall Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Enter the hall\n\u003c/PRED\u003e","video":"11945179442108150888.mp4"}
+{"uid":"14283171061381687156","text":"\u003ctask:success:discrete:True\u003e\nmove towards the cap Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 cap\n\u003c/PRED\u003e","video":"8741866072823108988.mp4"}
+{"uid":"1929635554470630300","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput yellow  stone in the paper bag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8005137447166423167.mp4"}
+{"uid":"13997232033905551353","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":"6540340330504631987.mp4"}
+{"uid":"8727299087261109990","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the dna chew 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":"16013958206177688917.mp4"}
+{"uid":"12893268750467554443","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the red candy 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":"15893155313563297032.mp4"}
+{"uid":"10720193063522211960","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop chocolate ball on paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13036961231107247617.mp4"}
+{"uid":"5885686774885284547","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag and cap on the desk and hang them on the coat rack. last 20 steps: 1- move towards the table 2- pick the bag 3- move close to the stand 4- hang the green bag on the stand 5- move to the left 6- move close to the cap 7- pick the cap Q: next 5 steps? \u003cPRED\u003eA: 1- move the cap close to the stand 2- move to the left 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove the cap close to the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag and cap on the desk and hang them on the coat rack. last 20 steps: 1- move towards the table 2- pick the bag 3- move close to the stand 4- hang the green bag on the stand 5- move to the left 6- move close to the cap 7- pick the cap Q: immediate next step? \u003cPRED\u003eA: move the cap close to the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the cap close to the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the bag and cap on the desk and hang them on the coat rack Q: immediate next step? \u003cPRED\u003eA: move the cap close to the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the cap close to the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the cap close to the stand\n\u003c/PRED\u003e","video":"5884213080375441697.mp4"}
+{"uid":"4680731291890042930","text":"\u003ctask:success:discrete:True\u003e\nmove close 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 close to the table\n\u003c/PRED\u003e","video":"17504646245540514251.mp4"}
+{"uid":"9021921140557593796","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput Chocolate nuts 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":"5206715801834048212.mp4"}
+{"uid":"5055372814127372376","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move close to the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move close to the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag and cap on the desk and hang them on the coat rack. last 20 steps: 1- move towards the table 2- pick the bag Q: immediate next step? \u003cPRED\u003eA: move close to the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove close to 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\nmove close to the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the bag and cap on the desk and hang them on the coat rack Q: immediate next step? \u003cPRED\u003eA: move close to the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag and cap on the desk and hang them on the coat rack. last 20 steps: 1- move towards the table 2- pick the bag Q: next 5 steps? \u003cPRED\u003eA: 1- move close to the stand 2- move to the left 3- move close to the cap 4- pick the cap 5- move to the right\n\u003c/PRED\u003e","video":"11320322514843788440.mp4"}
+{"uid":"15278891909753127413","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\narrange  marker 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":"6063308581560433504.mp4"}
+{"uid":"13898355611212251582","text":"\u003ctask:success:discrete:True\u003e\npick the cap Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 cap\n\u003c/PRED\u003e","video":"11114497792185279173.mp4"}
+{"uid":"8495752712890797623","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw coffee cup in trash and get me a hint watermelon from Mk Fridge to my desk. last 20 steps: 1- Pick up up the glass 2- Go to the lock of the door 3- Unlock the door Q: immediate next step? \u003cPRED\u003eA: Enter the hall\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw coffee cup in trash and get me a hint watermelon from Mk Fridge to my desk. last 20 steps: 1- Pick up up the glass 2- Go to the lock of the door 3- Unlock the door Q: next 5 steps? \u003cPRED\u003eA: 1- Enter the hall 2- Go to the dustbin 3- Put the glass in the dustbin 4- Open the drawer 5- Put the candy on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Enter the hall\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nEnter the hall Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nEnter the hall Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you throw coffee cup in trash and get me a hint watermelon from Mk Fridge to my desk Q: immediate next step? \u003cPRED\u003eA: Enter the hall\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Enter the hall\n\u003c/PRED\u003e","video":"9844811920710528888.mp4"}
+{"uid":"7836203598865732001","text":"\u003ctask:success:discrete:False\u003e\nhang the green bag on the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the bag and cap on the desk and hang them on the coat rack Q: immediate next step? \u003cPRED\u003eA: hang the green bag on the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: hang the green bag on the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag and cap on the desk and hang them on the coat rack. last 20 steps: 1- move towards the table 2- pick the bag Q: immediate next step? \u003cPRED\u003eA: hang the green bag on the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nhang the green bag on the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag and cap on the desk and hang them on the coat rack. last 20 steps: 1- move towards the table 2- pick the bag Q: next 5 steps? \u003cPRED\u003eA: 1- hang the green bag on the stand 2- move close to the cap 3- pick the cap 4- move to the right 5- hang the cap to the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: hang the green bag on the stand\n\u003c/PRED\u003e","video":"2100158941233777707.mp4"}
+{"uid":"9884605504273606821","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: take the bag and cap on the desk and hang them on the coat rack Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag and cap on the desk and hang them on the coat rack. last 20 steps: 1- move towards the table 2- pick the bag 3- move close to the stand 4- hang the green bag on the stand 5- move to the left 6- move close to the cap 7- pick the cap 8- move to the right 9- hang the cap on the coat rack Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag and cap on the desk and hang them on the coat rack. last 20 steps: 1- move towards the table 2- pick the bag 3- move close to the stand 4- hang the green bag on the stand 5- move to the left 6- move close to the cap 7- pick the cap 8- move to the right 9- hang the cap on the coat rack Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nhang the cap on the coat rack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: hang the cap on the coat rack\n\u003c/PRED\u003e","video":"7550810989014848840.mp4"}
+{"uid":"8937117660775042451","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag and cap on the desk and hang them on the coat rack. last 20 steps: 1- move towards the table 2- pick the bag 3- move close to the stand 4- hang the green bag on the stand 5- move to the left 6- move close to the cap 7- pick the cap 8- move to the right Q: immediate next step? \u003cPRED\u003eA: move to the left\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the bag and cap on the desk and hang them on the coat rack Q: immediate next step? \u003cPRED\u003eA: move to the left\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: hang the cap on the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove to the left Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move to the left\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move to the left\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag and cap on the desk and hang them on the coat rack. last 20 steps: 1- move towards the table 2- pick the bag 3- move close to the stand 4- hang the green bag on the stand 5- move to the left 6- move close to the cap 7- pick the cap 8- move to the right Q: next 5 steps? \u003cPRED\u003eA: 1- move to the left 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nhang the cap on the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7487555053326543535.mp4"}
+{"uid":"4682479003544190030","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: take the bag and cap on the desk and hang them on the coat rack Q: immediate next step? \u003cPRED\u003eA: pick the cap\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag and cap on the desk and hang them on the coat rack. last 20 steps: 1- move towards the table 2- pick the bag 3- move close to the stand 4- hang the green bag on the stand 5- move to the left 6- move close to the cap Q: next 5 steps? \u003cPRED\u003eA: 1- pick the cap 2- hang the cap to the stand 3- move to the left 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the cap Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 bag and cap on the desk and hang them on the coat rack. last 20 steps: 1- move towards the table 2- pick the bag 3- move close to the stand 4- hang the green bag on the stand 5- move to the left 6- move close to the cap Q: immediate next step? \u003cPRED\u003eA: pick the cap\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the cap\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the cap\n\u003c/PRED\u003e","video":"194190291393756547.mp4"}
+{"uid":"12829940776066731556","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: can you throw coffee cup in trash and get me a hint watermelon from Mk Fridge to my desk Q: immediate next step? \u003cPRED\u003eA: Unlock the door\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Go to the lock of the door\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Unlock the door\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw coffee cup in trash and get me a hint watermelon from Mk Fridge to my desk. last 20 steps: 1- Pick up up the glass 2- Go to the lock of the door Q: next 5 steps? \u003cPRED\u003eA: 1- Unlock the door 2- Enter the hall 3- Go to the dustbin 4- Put the glass in the dustbin 5- Open the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw coffee cup in trash and get me a hint watermelon from Mk Fridge to my desk. last 20 steps: 1- Pick up up the glass 2- Go to the lock of the door Q: immediate next step? \u003cPRED\u003eA: Unlock the door\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Unlock the door\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nUnlock the door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nGo to the lock of 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:success:discrete:False\u003e\nUnlock the door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5222138427298145867.mp4"}
+{"uid":"1394587582237203333","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":"13006137671878419600.mp4"}
+{"uid":"6400532127466745357","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: hang the green bag on the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nhang the green bag on 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: hang the green bag on the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the bag and cap on the desk and hang them on the coat rack Q: immediate next step? \u003cPRED\u003eA: hang the green bag on the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag and cap on the desk and hang them on the coat rack. last 20 steps: 1- move towards the table 2- pick the bag Q: next 5 steps? \u003cPRED\u003eA: 1- hang the green bag on the stand 2- move close to the cap 3- pick the cap 4- move to the right 5- hang the cap to the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag and cap on the desk and hang them on the coat rack. last 20 steps: 1- move towards the table 2- pick the bag Q: immediate next step? \u003cPRED\u003eA: hang the green bag on the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nhang the green bag on 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":"325550158835663780.mp4"}
+{"uid":"17307831004567059701","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the register on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10406232944482831059.mp4"}
+{"uid":"540320894981286425","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the yellow pear on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18123375350185304716.mp4"}
+{"uid":"8654120810394884640","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the cap\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the cap\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the bag and cap on the desk and hang them on the coat rack Q: immediate next step? \u003cPRED\u003eA: pick the cap\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag and cap on the desk and hang them on the coat rack. last 20 steps: 1- move towards the table 2- pick the bag 3- move close to the stand 4- hang the green bag on the stand 5- move to the left 6- move close to the cap Q: immediate next step? \u003cPRED\u003eA: pick the cap\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag and cap on the desk and hang them on the coat rack. last 20 steps: 1- move towards the table 2- pick the bag 3- move close to the stand 4- hang the green bag on the stand 5- move to the left 6- move close to the cap Q: next 5 steps? \u003cPRED\u003eA: 1- pick the cap 2- hang the cap to the stand 3- move to the left 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the cap Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10556259560520197609.mp4"}
+{"uid":"1661289681730687751","text":"\u003ctask:success:discrete:True\u003e\npick the cap Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 cap\n\u003c/PRED\u003e","video":"15025218811695507595.mp4"}
+{"uid":"13646934249404829961","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":"1287851999835525875.mp4"}
+{"uid":"6677667507569969035","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nclose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3124416893448251726.mp4"}
+{"uid":"16982579959375745407","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag and cap on the desk and hang them on the coat rack. last 20 steps: 1- move towards the table 2- pick the bag 3- move close to the stand 4- hang the green bag on the stand 5- move to the left Q: immediate next step? \u003cPRED\u003eA: pick the cap\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the cap Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED: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 cap\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the cap\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the cap Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 bag and cap on the desk and hang them on the coat rack Q: immediate next step? \u003cPRED\u003eA: pick the cap\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag and cap on the desk and hang them on the coat rack. last 20 steps: 1- move towards the table 2- pick the bag 3- move close to the stand 4- hang the green bag on the stand 5- move to the left Q: next 5 steps? \u003cPRED\u003eA: 1- pick the cap 2- hang the cap to the stand 3- move to the left 4- done\n\u003c/PRED\u003e","video":"956754394047248461.mp4"}
+{"uid":"13997562018903178102","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the bag\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the bag\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the bag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the bag and cap on the desk and hang them on the coat rack Q: immediate next step? \u003cPRED\u003eA: pick the bag\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the bag Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag and cap on the desk and hang them on the coat rack. last 20 steps: 1- move towards the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick the bag 2- move close to the stand 3- hang the green bag on the stand 4- move to the left 5- move close to the cap\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag and cap on the desk and hang them on the coat rack. last 20 steps: 1- move towards the table Q: immediate next step? \u003cPRED\u003eA: pick the bag\n\u003c/PRED\u003e","video":"14493272936897272531.mp4"}
+{"uid":"8244452994324620548","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachios in cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8085430015752059785.mp4"}
+{"uid":"9237043058838058482","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: take the bag and cap on the desk and hang them on the coat rack Q: immediate next step? \u003cPRED\u003eA: pick the green bag\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag and cap on the desk and hang them on the coat rack. last 20 steps: 1- move towards the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick the green bag 2- hang the green bag on the stand 3- move to the left 4- move close to the cap 5- pick the cap\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the green bag\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag and cap on the desk and hang them on the coat rack. last 20 steps: 1- move towards the table Q: immediate next step? \u003cPRED\u003eA: pick the green bag\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the green bag\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the green bag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16316485815831288804.mp4"}
+{"uid":"8355705582204855455","text":"\u003ctask:success:discrete:True\u003e\nmove towards the coat rack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move towards the coat rack\n\u003c/PRED\u003e","video":"11918098429742785211.mp4"}
+{"uid":"13642610496692370490","text":"\u003ctask:success:discrete:True\u003e\npick the green bag Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the green bag\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the green bag\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the green bag Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10938520621282660135.mp4"}
+{"uid":"3013399579214125457","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag and cap on the desk and hang them on the coat rack. last 20 steps: 1- move towards the table 2- pick the bag 3- move close to the stand Q: next 5 steps? \u003cPRED\u003eA: 1- move to the left 2- move close to the cap 3- pick the cap 4- move to the right 5- hang the cap to the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag and cap on the desk and hang them on the coat rack. last 20 steps: 1- move towards the table 2- pick the bag 3- move close to the stand Q: immediate next step? \u003cPRED\u003eA: move to the left\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move to the left\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move to the left\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the bag and cap on the desk and hang them on the coat rack Q: immediate next step? \u003cPRED\u003eA: move to the left\n\u003c/PRED\u003e","video":"5356883012696485191.mp4"}
+{"uid":"12725842279815767514","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":"5811532991847585907.mp4"}
+{"uid":"2636571618615051130","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag and cap on the desk and hang them on the coat rack. last 20 steps: 1- move towards the table 2- pick the bag 3- move close to the stand 4- hang the green bag on the stand 5- move to the left 6- move close to the cap 7- pick the cap 8- hang the cap to the stand Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: hang the cap to the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the bag and cap on the desk and hang them on the coat rack Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag and cap on the desk and hang them on the coat rack. last 20 steps: 1- move towards the table 2- pick the bag 3- move close to the stand 4- hang the green bag on the stand 5- move to the left 6- move close to the cap 7- pick the cap 8- hang the cap to the stand Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nhang the cap to the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1151301705194671251.mp4"}
+{"uid":"5762879957709045568","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Go to the lock of the door\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw coffee cup in trash and get me a hint watermelon from Mk Fridge to my desk. last 20 steps: 1- Pick up up the glass Q: next 5 steps? \u003cPRED\u003eA: 1- Go to the lock of the door 2- Unlock the door 3- Enter the hall 4- Go to the dustbin 5- Put the glass in the dustbin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you throw coffee cup in trash and get me a hint watermelon from Mk Fridge to my desk Q: immediate next step? \u003cPRED\u003eA: Go to the lock of the door\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGo to the lock of the door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Go to the lock of the door\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGo to the lock of 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw coffee cup in trash and get me a hint watermelon from Mk Fridge to my desk. last 20 steps: 1- Pick up up the glass Q: immediate next step? \u003cPRED\u003eA: Go to the lock of the door\n\u003c/PRED\u003e","video":"13117129478611533621.mp4"}
+{"uid":"9610302093064632381","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12568962431726985232.mp4"}
+{"uid":"16677005318982760148","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you head into the MK and grab me a beef stick and peanut butter pack. last 20 steps: 1- open the drawer 2- put packet on the table 3- put packet on the table 4- close the drawer 5- put packets on the leftside Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packets on the leftside\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput packets on the leftside Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you head into the MK and grab me a beef stick and peanut butter pack Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you head into the MK and grab me a beef stick and peanut butter pack. last 20 steps: 1- open the drawer 2- put packet on the table 3- put packet on the table 4- close the drawer 5- put packets on the leftside Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"4615733147912607601.mp4"}
+{"uid":"2589693664310522411","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the right silver 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":"11866008639524737806.mp4"}
+{"uid":"1379765947759276765","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag and cap on the desk and hang them on the coat rack. last 20 steps: 1- move towards the table 2- pick the bag Q: immediate next step? \u003cPRED\u003eA: hang the bag on the coat rack\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag and cap on the desk and hang them on the coat rack. last 20 steps: 1- move towards the table 2- pick the bag Q: next 5 steps? \u003cPRED\u003eA: 1- hang the bag on the coat rack 2- move to the left 3- move close to the cap 4- pick the cap 5- move to the right\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nhang the bag on the coat rack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nhang the bag on the coat rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: hang the bag on the coat rack\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: hang the bag on the coat rack\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the bag and cap on the desk and hang them on the coat rack Q: immediate next step? \u003cPRED\u003eA: hang the bag on the coat rack\n\u003c/PRED\u003e","video":"8406691769922148808.mp4"}
+{"uid":"2394040114199625501","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the metal binder clip in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9406759688292417538.mp4"}
+{"uid":"18184028409322794227","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nturn to your 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: turn to your left\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag and cap on the desk and hang them on the coat rack. last 20 steps: 1- move towards the table 2- pick the bag 3- move close to the stand 4- hang the green bag on the stand 5- move to the left 6- move close to the cap 7- pick the cap 8- move to the right 9- hang the cap to the stand Q: next 5 steps? \u003cPRED\u003eA: 1- turn to your left 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the bag and cap on the desk and hang them on the coat rack Q: immediate next step? \u003cPRED\u003eA: turn to your left\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag and cap on the desk and hang them on the coat rack. last 20 steps: 1- move towards the table 2- pick the bag 3- move close to the stand 4- hang the green bag on the stand 5- move to the left 6- move close to the cap 7- pick the cap 8- move to the right 9- hang the cap to the stand Q: immediate next step? \u003cPRED\u003eA: turn to your left\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: turn to your left\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nturn to your 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","video":"16625437383040751122.mp4"}
+{"uid":"7578455378599802660","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nmove towards the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 bag and cap on the desk and hang them on the coat rack. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: move towards the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move towards the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove towards the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag and cap on the desk and hang them on the coat rack. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- move towards the table 2- pick the bag 3- move close to the stand 4- hang the green bag on the stand 5- move to the left\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the bag and cap on the desk and hang them on the coat rack Q: immediate next step? \u003cPRED\u003eA: move towards the table\n\u003c/PRED\u003e","video":"1846559257745153279.mp4"}
+{"uid":"401688039231223519","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the purple candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13921840980940814672.mp4"}
+{"uid":"17325414711737604618","text":"\u003ctask:success:discrete:False\u003e\nPut the candy on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you throw coffee cup in trash and get me a hint watermelon from Mk Fridge to my desk Q: immediate next step? \u003cPRED\u003eA: Put the candy on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the candy on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the candy on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw coffee cup in trash and get me a hint watermelon from Mk Fridge to my desk. last 20 steps: 1- Pick up up the glass 2- Go to the lock of the door 3- Unlock the door 4- Enter the hall 5- Go to the dustbin 6- Put the glass in the dustbin 7- Open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Put the candy on the table 2- Close the drawer 3- Pick up the candy 4- Go to the door 5- Unlock the door\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw coffee cup in trash and get me a hint watermelon from Mk Fridge to my desk. last 20 steps: 1- Pick up up the glass 2- Go to the lock of the door 3- Unlock the door 4- Enter the hall 5- Go to the dustbin 6- Put the glass in the dustbin 7- Open the drawer Q: immediate next step? \u003cPRED\u003eA: Put the candy on the table\n\u003c/PRED\u003e","video":"9442739165692449828.mp4"}
+{"uid":"17699516947634166612","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the blue bottle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12760176516003316829.mp4"}
+{"uid":"4447175439793610421","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick the green bag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the green bag\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the green bag\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag and cap on the desk and hang them on the coat rack. last 20 steps: 1- move towards the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick the green bag 2- hang the green bag on the stand 3- move to the left 4- move close to the cap 5- pick the cap\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the bag and cap on the desk and hang them on the coat rack Q: immediate next step? \u003cPRED\u003eA: pick the green bag\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag and cap on the desk and hang them on the coat rack. last 20 steps: 1- move towards the table Q: immediate next step? \u003cPRED\u003eA: pick the green bag\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the green bag Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16591694200074848101.mp4"}
+{"uid":"1124178811374017599","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the toy 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":"12933468312769203016.mp4"}
+{"uid":"13928420449222542445","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you head into the MK and grab me a beef stick and peanut butter pack 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: Can you head into the MK and grab me a beef stick and peanut butter pack. last 20 steps: 1- open the drawer 2- 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: Can you head into the MK and grab me a beef stick and peanut butter pack. last 20 steps: 1- open the drawer 2- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on the table 2- close the drawer 3- put packets on the leftside 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","video":"4553563957148691257.mp4"}
+{"uid":"350579387851255853","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick a yellow marker from the marker 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":"8969129859257468382.mp4"}
+{"uid":"2994783334079898065","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move to the left\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the bag and cap on the desk and hang them on the coat rack Q: immediate next step? \u003cPRED\u003eA: move to the left\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move to the left\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove to the left Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag and cap on the desk and hang them on the coat rack. last 20 steps: 1- move towards the table 2- pick the bag 3- move close to the stand 4- hang the green bag on the stand Q: next 5 steps? \u003cPRED\u003eA: 1- move to the left 2- move close to the cap 3- pick the cap 4- move to the right 5- hang the cap to the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag and cap on the desk and hang them on the coat rack. last 20 steps: 1- move towards the table 2- pick the bag 3- move close to the stand 4- hang the green bag on the stand Q: immediate next step? \u003cPRED\u003eA: move to the left\n\u003c/PRED\u003e","video":"2731604505775951252.mp4"}
+{"uid":"13863230782925556051","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":"17354202141652867740.mp4"}
+{"uid":"13468434886040674963","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":"16046716740002436527.mp4"}
+{"uid":"2753228639587567686","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag and cap on the desk and hang them on the coat rack. last 20 steps: 1- move towards the table 2- pick the bag 3- move close to the stand 4- hang the green bag on the stand 5- move to the left Q: next 5 steps? \u003cPRED\u003eA: 1- move your arm close to the cap 2- move to the right 3- hang the cap to the stand 4- move to the left 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag and cap on the desk and hang them on the coat rack. last 20 steps: 1- move towards the table 2- pick the bag 3- move close to the stand 4- hang the green bag on the stand 5- move to the left Q: immediate next step? \u003cPRED\u003eA: move your arm close to the cap\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move your arm close to the cap\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove your arm close to the cap Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the bag and cap on the desk and hang them on the coat rack Q: immediate next step? \u003cPRED\u003eA: move your arm close to the cap\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove your arm close to the cap Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move your arm close to the cap\n\u003c/PRED\u003e","video":"821656360540642165.mp4"}
+{"uid":"5550878715999202425","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move close to the cap\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove close to the cap Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6851923896764856529.mp4"}
+{"uid":"13798105033146787092","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6586595485986366601.mp4"}
+{"uid":"18163133497296231633","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":"8661781244959423425.mp4"}
+{"uid":"6454899669936191055","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move close to the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the bag and cap on the desk and hang them on the coat rack Q: immediate next step? \u003cPRED\u003eA: move close to the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag and cap on the desk and hang them on the coat rack. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- move close to the table 2- pick the bag 3- move close to the stand 4- hang the green bag on the stand 5- move to the left\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag and cap on the desk and hang them on the coat rack. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: move close to the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove close to the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove close to the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move close to the table\n\u003c/PRED\u003e","video":"4125425331126636197.mp4"}
+{"uid":"2612830397005925795","text":"\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: Can you head into the MK and grab me a beef stick and peanut butter pack. last 20 steps: 1- open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on the table 2- put packet on the table 3- close the drawer 4- put packets on the leftside 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you head into the MK and grab me a beef stick and peanut butter pack Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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: Can you head into the MK and grab me a beef stick and peanut butter pack. last 20 steps: 1- open the drawer 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","video":"16893315510264882471.mp4"}
+{"uid":"9055847336404307021","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:planning:freeform\u003e\ncurrent goal is: can you throw coffee cup in trash and get me a hint watermelon from Mk Fridge to my desk Q: immediate next step? \u003cPRED\u003eA: Open the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw coffee cup in trash and get me a hint watermelon from Mk Fridge to my desk. last 20 steps: 1- Pick up up the glass 2- Go to the lock of the door 3- Unlock the door 4- Enter the hall 5- Go to the dustbin 6- Put the glass in the dustbin 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw coffee cup in trash and get me a hint watermelon from Mk Fridge to my desk. last 20 steps: 1- Pick up up the glass 2- Go to the lock of the door 3- Unlock the door 4- Enter the hall 5- Go to the dustbin 6- Put the glass in the dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- Open the drawer 2- Put the candy on the table 3- Close the drawer 4- Pick up the candy 5- Go to the door\n\u003c/PRED\u003e","video":"9085477528704299896.mp4"}
+{"uid":"4843131888605135989","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw coffee cup in trash and get me a hint watermelon from Mk Fridge to my desk. last 20 steps: 1- Pick up up the glass 2- Go to the lock of the door 3- Unlock the door 4- Enter the hall 5- Go to the dustbin 6- Put the glass in the dustbin 7- Open the drawer 8- Put the candy on the table 9- Close the drawer 10- Pick up the candy 11- Go to the door 12- Unlock the door Q: next 5 steps? \u003cPRED\u003eA: 1- Exit the hall 2- Put the candy on the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Exit the hall\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nExit the hall Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED: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 hall Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw coffee cup in trash and get me a hint watermelon from Mk Fridge to my desk. last 20 steps: 1- Pick up up the glass 2- Go to the lock of the door 3- Unlock the door 4- Enter the hall 5- Go to the dustbin 6- Put the glass in the dustbin 7- Open the drawer 8- Put the candy on the table 9- Close the drawer 10- Pick up the candy 11- Go to the door 12- Unlock the door Q: immediate next step? \u003cPRED\u003eA: Exit the hall\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you throw coffee cup in trash and get me a hint watermelon from Mk Fridge to my desk Q: immediate next step? \u003cPRED\u003eA: Exit the hall\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Exit the hall\n\u003c/PRED\u003e","video":"5584617187068320474.mp4"}
+{"uid":"4936731308034314905","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pen in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5529347827894940065.mp4"}
+{"uid":"6807638835455591531","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the chocolate on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2114620357060870057.mp4"}
+{"uid":"16601168108898589067","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the candy inside the brown bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16278891368461648382.mp4"}
+{"uid":"13581137071163248310","text":"\u003ctask:success:discrete:False\u003e\nPick up the candy Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the candy\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you throw coffee cup in trash and get me a hint watermelon from Mk Fridge to my desk Q: immediate next step? \u003cPRED\u003eA: Pick up the candy\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the candy Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw coffee cup in trash and get me a hint watermelon from Mk Fridge to my desk. last 20 steps: 1- Pick up up the glass 2- Go to the lock of the door 3- Unlock the door 4- Enter the hall 5- Go to the dustbin 6- Put the glass in the dustbin 7- Open the drawer 8- Put the candy on the table 9- Close the drawer Q: immediate next step? \u003cPRED\u003eA: Pick up the candy\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw coffee cup in trash and get me a hint watermelon from Mk Fridge to my desk. last 20 steps: 1- Pick up up the glass 2- Go to the lock of the door 3- Unlock the door 4- Enter the hall 5- Go to the dustbin 6- Put the glass in the dustbin 7- Open the drawer 8- Put the candy on the table 9- Close the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the candy 2- Go to the door 3- Unlock the door 4- Exit the hall 5- Put the candy on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the candy\n\u003c/PRED\u003e","video":"827749074597364812.mp4"}
+{"uid":"8232625251944799501","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"18293977667659184431.mp4"}
+{"uid":"12671694750518531236","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the blue packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16376775717622741857.mp4"}
+{"uid":"5520067114399348189","text":"\u003ctask:success:discrete:True\u003e\nhang the green bag on 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: hang the green bag on the stand\n\u003c/PRED\u003e","video":"6274390872844278640.mp4"}
+{"uid":"6994397749419780083","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Go to the door\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nUnlock the door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Unlock the door\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw coffee cup in trash and get me a hint watermelon from Mk Fridge to my desk. last 20 steps: 1- Pick up up the glass 2- Go to the lock of the door 3- Unlock the door 4- Enter the hall 5- Go to the dustbin 6- Put the glass in the dustbin 7- Open the drawer 8- Put the candy on the table 9- Close the drawer 10- Pick up the candy 11- Go to the door Q: immediate next step? \u003cPRED\u003eA: Unlock the door\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you throw coffee cup in trash and get me a hint watermelon from Mk Fridge to my desk Q: immediate next step? \u003cPRED\u003eA: Unlock the door\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nUnlock the door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nGo to 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Unlock the door\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw coffee cup in trash and get me a hint watermelon from Mk Fridge to my desk. last 20 steps: 1- Pick up up the glass 2- Go to the lock of the door 3- Unlock the door 4- Enter the hall 5- Go to the dustbin 6- Put the glass in the dustbin 7- Open the drawer 8- Put the candy on the table 9- Close the drawer 10- Pick up the candy 11- Go to the door Q: next 5 steps? \u003cPRED\u003eA: 1- Unlock the door 2- Exit the hall 3- Put the candy on the table 4- done\n\u003c/PRED\u003e","video":"1864656607319349393.mp4"}
+{"uid":"4925229006535614769","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":"12975413418216892018.mp4"}
+{"uid":"8452389282118863518","text":"\u003ctask:success:discrete:True\u003e\nmove to the left Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the bag and cap on the desk and hang them on the coat rack Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move to the left\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag and cap on the desk and hang them on the coat rack. last 20 steps: 1- move towards the table 2- pick the bag 3- move close to the stand 4- hang the green bag on the stand 5- move to the left 6- move close to the cap 7- pick the cap 8- move to the right 9- move to the left Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag and cap on the desk and hang them on the coat rack. last 20 steps: 1- move towards the table 2- pick the bag 3- move close to the stand 4- hang the green bag on the stand 5- move to the left 6- move close to the cap 7- pick the cap 8- move to the right 9- move to the left Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"8220552972221309683.mp4"}
+{"uid":"11615077028447790507","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14064477079840216836.mp4"}
+{"uid":"2328691191065451208","text":"\u003ctask:success:discrete:False\u003e\nClose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you throw coffee cup in trash and get me a hint watermelon from Mk Fridge to my desk Q: immediate next step? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw coffee cup in trash and get me a hint watermelon from Mk Fridge to my desk. last 20 steps: 1- Pick up up the glass 2- Go to the lock of the door 3- Unlock the door 4- Enter the hall 5- Go to the dustbin 6- Put the glass in the dustbin 7- Open the drawer 8- Put the candy on the table Q: immediate next step? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw coffee cup in trash and get me a hint watermelon from Mk Fridge to my desk. last 20 steps: 1- Pick up up the glass 2- Go to the lock of the door 3- Unlock the door 4- Enter the hall 5- Go to the dustbin 6- Put the glass in the dustbin 7- Open the drawer 8- Put the candy on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Close the drawer 2- Pick up the candy 3- Go to the door 4- Unlock the door 5- Exit the hall\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nClose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14259643842861837188.mp4"}
+{"uid":"8091061887600744143","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the 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":"10696212878290724568.mp4"}
+{"uid":"7648752560629823173","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace orange 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":"2427598812587592232.mp4"}
+{"uid":"3948013269126802092","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: hang the cap to the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nhang the cap to the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag and cap on the desk and hang them on the coat rack. last 20 steps: 1- move towards the table 2- pick the bag 3- move close to the stand 4- hang the green bag on the stand 5- move to the left 6- move close to the cap 7- pick the cap Q: immediate next step? \u003cPRED\u003eA: hang the cap to the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the bag and cap on the desk and hang them on the coat rack Q: immediate next step? \u003cPRED\u003eA: hang the cap to the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag and cap on the desk and hang them on the coat rack. last 20 steps: 1- move towards the table 2- pick the bag 3- move close to the stand 4- hang the green bag on the stand 5- move to the left 6- move close to the cap 7- pick the cap Q: next 5 steps? \u003cPRED\u003eA: 1- hang the cap to the stand 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nhang the cap to 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: hang the cap to the stand\n\u003c/PRED\u003e","video":"487952914370380867.mp4"}
+{"uid":"12139852308679646997","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Go to the dustbin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGo to the dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Go to the dustbin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you throw coffee cup in trash and get me a hint watermelon from Mk Fridge to my desk Q: immediate next step? \u003cPRED\u003eA: Go to the dustbin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw coffee cup in trash and get me a hint watermelon from Mk Fridge to my desk. last 20 steps: 1- Pick up up the glass 2- Go to the lock of the door 3- Unlock the door 4- Enter the hall Q: immediate next step? \u003cPRED\u003eA: Go to the dustbin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw coffee cup in trash and get me a hint watermelon from Mk Fridge to my desk. last 20 steps: 1- Pick up up the glass 2- Go to the lock of the door 3- Unlock the door 4- Enter the hall Q: next 5 steps? \u003cPRED\u003eA: 1- Go to the dustbin 2- Put the glass in the dustbin 3- Open the drawer 4- Put the candy on the table 5- Close the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGo to the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14432772193085441352.mp4"}
+{"uid":"11827051694686621344","text":"\u003ctask:success:discrete:False\u003e\nclose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you head into the MK and grab me a beef stick and peanut butter pack. last 20 steps: 1- open the drawer 2- put packet on the table 3- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- put packets on the leftside 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you head into the MK and grab me a beef stick and peanut butter pack Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you head into the MK and grab me a beef stick and peanut butter pack. last 20 steps: 1- open the drawer 2- put packet on the table 3- put packet on the table Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e","video":"10193192741088878573.mp4"}
+{"uid":"9944608239612040789","text":"\u003ctask:success:discrete:True\u003e\nhang the green bag on 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: hang the green bag on the stand\n\u003c/PRED\u003e","video":"6129877320082461734.mp4"}
+{"uid":"17885575978855207194","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag and cap on the desk and hang them on the coat rack. last 20 steps: 1- move towards the table 2- pick the bag 3- move close to the stand 4- hang the green bag on the stand 5- move to the left Q: next 5 steps? \u003cPRED\u003eA: 1- move close to the cap 2- move to the right 3- hang the cap to the stand 4- move to the left 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag and cap on the desk and hang them on the coat rack. last 20 steps: 1- move towards the table 2- pick the bag 3- move close to the stand 4- hang the green bag on the stand 5- move to the left Q: immediate next step? \u003cPRED\u003eA: move close to the cap\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove close to the cap Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move close to the cap\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the bag and cap on the desk and hang them on the coat rack Q: immediate next step? \u003cPRED\u003eA: move close to the cap\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move close to the cap\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove close to the cap Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6733451868340310801.mp4"}
+{"uid":"15921986933230352405","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Go to the dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nGo to the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16863152502578314133.mp4"}
+{"uid":"5101897433844561071","text":"\u003ctask:success:discrete:True\u003e\nmove close to 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: move close to the stand\n\u003c/PRED\u003e","video":"5680125395729981140.mp4"}
+{"uid":"9704931013652221021","text":"\u003ctask:success:discrete:True\u003e\nmove your arm close to the cap Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move your arm close to the cap\n\u003c/PRED\u003e","video":"13946453019193998172.mp4"}
+{"uid":"12709133275560139811","text":"\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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag and cap on the desk and hang them on the coat rack. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- move forward 2- pick the bag 3- move close to the stand 4- hang the green bag on the stand 5- move to the left\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the bag and cap on the desk and hang them on the coat rack Q: immediate next step? \u003cPRED\u003eA: move forward\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: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: take the bag and cap on the desk and hang them on the coat rack. last 20 steps: none Q: immediate next step? \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":"8612974209954549347.mp4"}
+{"uid":"898215603174028101","text":"\u003ctask:success:discrete:False\u003e\nGo to the door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Go to the door\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw coffee cup in trash and get me a hint watermelon from Mk Fridge to my desk. last 20 steps: 1- Pick up up the glass 2- Go to the lock of the door 3- Unlock the door 4- Enter the hall 5- Go to the dustbin 6- Put the glass in the dustbin 7- Open the drawer 8- Put the candy on the table 9- Close the drawer 10- Pick up the candy Q: immediate next step? \u003cPRED\u003eA: Go to the door\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Go to the door\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you throw coffee cup in trash and get me a hint watermelon from Mk Fridge to my desk Q: immediate next step? \u003cPRED\u003eA: Go to the door\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw coffee cup in trash and get me a hint watermelon from Mk Fridge to my desk. last 20 steps: 1- Pick up up the glass 2- Go to the lock of the door 3- Unlock the door 4- Enter the hall 5- Go to the dustbin 6- Put the glass in the dustbin 7- Open the drawer 8- Put the candy on the table 9- Close the drawer 10- Pick up the candy Q: next 5 steps? \u003cPRED\u003eA: 1- Go to the door 2- Unlock the door 3- Exit the hall 4- Put the candy on the table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGo to 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":"11385678334877844322.mp4"}
+{"uid":"17659846605254182163","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nmove towards the coat rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag and cap on the desk and hang them on the coat rack. last 20 steps: 1- move towards the table 2- pick the bag 3- move close to the stand 4- hang the green bag on the stand 5- move to the left 6- move close to the cap 7- pick the cap Q: immediate next step? \u003cPRED\u003eA: move towards the coat rack\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove towards the coat rack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag and cap on the desk and hang them on the coat rack. last 20 steps: 1- move towards the table 2- pick the bag 3- move close to the stand 4- hang the green bag on the stand 5- move to the left 6- move close to the cap 7- pick the cap Q: next 5 steps? \u003cPRED\u003eA: 1- move towards the coat rack 2- move to the left 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the bag and cap on the desk and hang them on the coat rack Q: immediate next step? \u003cPRED\u003eA: move towards the coat rack\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move towards the coat rack\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move towards the coat rack\n\u003c/PRED\u003e","video":"11312627575257417041.mp4"}
+{"uid":"13009525788691563300","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move to the right\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the bag and cap on the desk and hang them on the coat rack Q: immediate next step? \u003cPRED\u003eA: move to the right\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move to the right\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove 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\nmove 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag and cap on the desk and hang them on the coat rack. last 20 steps: 1- move towards the table 2- pick the bag 3- move close to the stand 4- hang the green bag on the stand 5- move to the left 6- move close to the cap Q: next 5 steps? \u003cPRED\u003eA: 1- move to the right 2- move to the left 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag and cap on the desk and hang them on the coat rack. last 20 steps: 1- move towards the table 2- pick the bag 3- move close to the stand 4- hang the green bag on the stand 5- move to the left 6- move close to the cap Q: immediate next step? \u003cPRED\u003eA: move to the right\n\u003c/PRED\u003e","video":"11295234304162370117.mp4"}
+{"uid":"16072674833544476919","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move to the right\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove 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":"14338714160486452259.mp4"}
+{"uid":"11414374773326877016","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag and cap on the desk and hang them on the coat rack. last 20 steps: 1- move towards the table 2- pick the bag 3- move close to the stand 4- hang the green bag on the stand 5- move to the left 6- move close to the cap 7- pick the cap 8- move to the right Q: next 5 steps? \u003cPRED\u003eA: 1- hang the cap on the coat rack 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nhang the cap on the coat rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: hang the cap on the coat rack\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the bag and cap on the desk and hang them on the coat rack Q: immediate next step? \u003cPRED\u003eA: hang the cap on the coat rack\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag and cap on the desk and hang them on the coat rack. last 20 steps: 1- move towards the table 2- pick the bag 3- move close to the stand 4- hang the green bag on the stand 5- move to the left 6- move close to the cap 7- pick the cap 8- move to the right Q: immediate next step? \u003cPRED\u003eA: hang the cap on the coat rack\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nhang the cap on the coat rack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: hang the cap on the coat rack\n\u003c/PRED\u003e","video":"9955703539118229957.mp4"}
+{"uid":"5057173971800006471","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the pen from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15762511926926312942.mp4"}
+{"uid":"15352541859540262117","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":"16169771786817500031.mp4"}
+{"uid":"18004638183023322819","text":"\u003ctask:success:discrete:False\u003e\nmove towards the cap Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED: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 bag and cap on the desk and hang them on the coat rack. last 20 steps: 1- move towards the table 2- pick the bag 3- move close to the stand 4- hang the green bag on the stand 5- move to the left Q: immediate next step? \u003cPRED\u003eA: move towards the cap\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the bag and cap on the desk and hang them on the coat rack Q: immediate next step? \u003cPRED\u003eA: move towards the cap\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move towards the cap\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag and cap on the desk and hang them on the coat rack. last 20 steps: 1- move towards the table 2- pick the bag 3- move close to the stand 4- hang the green bag on the stand 5- move to the left Q: next 5 steps? \u003cPRED\u003eA: 1- move towards the cap 2- move to the right 3- hang the cap to the stand 4- move to the left 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move towards the cap\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove towards the cap Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13172176899710812953.mp4"}
+{"uid":"841275894292545389","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the candy 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":"5052011552184766594.mp4"}
+{"uid":"15991101134755223141","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3039728511993125829.mp4"}
+{"uid":"10975608548086824839","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the alphabet 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":"194313526865345311.mp4"}
+{"uid":"14748247224812677246","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the glass in the dustbin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw coffee cup in trash and get me a hint watermelon from Mk Fridge to my desk. last 20 steps: 1- Pick up up the glass 2- Go to the lock of the door 3- Unlock the door 4- Enter the hall 5- Go to the dustbin Q: immediate next step? \u003cPRED\u003eA: Put the glass in the dustbin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the glass in the dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the glass in the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw coffee cup in trash and get me a hint watermelon from Mk Fridge to my desk. last 20 steps: 1- Pick up up the glass 2- Go to the lock of the door 3- Unlock the door 4- Enter the hall 5- Go to the dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- Put the glass in the dustbin 2- Open the drawer 3- Put the candy on the table 4- Close the drawer 5- Pick up the candy\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you throw coffee cup in trash and get me a hint watermelon from Mk Fridge to my desk Q: immediate next step? \u003cPRED\u003eA: Put the glass in the dustbin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the glass in the dustbin\n\u003c/PRED\u003e","video":"6560612767067060457.mp4"}
+{"uid":"12311066497799405030","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the bag\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the bag Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9462885214461575056.mp4"}
+{"uid":"10861571453505682150","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: hang the cap on the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag and cap on the desk and hang them on the coat rack. last 20 steps: 1- move towards the table 2- pick the bag 3- move close to the stand 4- hang the green bag on the stand 5- move to the left 6- move close to the cap 7- pick the cap 8- move to the right Q: next 5 steps? \u003cPRED\u003eA: 1- hang the cap on the stand 2- move to the left 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the bag and cap on the desk and hang them on the coat rack Q: immediate next step? \u003cPRED\u003eA: hang the cap on the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag and cap on the desk and hang them on the coat rack. last 20 steps: 1- move towards the table 2- pick the bag 3- move close to the stand 4- hang the green bag on the stand 5- move to the left 6- move close to the cap 7- pick the cap 8- move to the right Q: immediate next step? \u003cPRED\u003eA: hang the cap on the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nhang the cap on the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: hang the cap on the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nhang the cap on the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18192403151913358042.mp4"}
+{"uid":"13938713391724043693","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move the cap close to the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove the cap close to the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1987453204245556217.mp4"}
+{"uid":"11441068390117839974","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the candy on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you throw coffee cup in trash and get me a hint watermelon from Mk Fridge to my desk Q: immediate next step? \u003cPRED\u003eA: Put the candy on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the candy on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw coffee cup in trash and get me a hint watermelon from Mk Fridge to my desk. last 20 steps: 1- Pick up up the glass 2- Go to the lock of the door 3- Unlock the door 4- Enter the hall 5- Go to the dustbin 6- Put the glass in the dustbin 7- Open the drawer 8- Put the candy on the table 9- Close the drawer 10- Pick up the candy 11- Go to the door 12- Unlock the door 13- Exit the hall Q: next 5 steps? \u003cPRED\u003eA: 1- Put the candy on the table 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw coffee cup in trash and get me a hint watermelon from Mk Fridge to my desk. last 20 steps: 1- Pick up up the glass 2- Go to the lock of the door 3- Unlock the door 4- Enter the hall 5- Go to the dustbin 6- Put the glass in the dustbin 7- Open the drawer 8- Put the candy on the table 9- Close the drawer 10- Pick up the candy 11- Go to the door 12- Unlock the door 13- Exit the hall Q: immediate next step? \u003cPRED\u003eA: Put the candy on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the candy on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9062949579234910003.mp4"}
+{"uid":"16978260507435070557","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packets on the leftside\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you head into the MK and grab me a beef stick and peanut butter pack Q: immediate next step? \u003cPRED\u003eA: put packets on the leftside\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packets on the leftside\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you head into the MK and grab me a beef stick and peanut butter pack. last 20 steps: 1- open the drawer 2- put packet on the table 3- put packet on the table 4- close the drawer Q: immediate next step? \u003cPRED\u003eA: put packets on the leftside\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packets on the leftside Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you head into the MK and grab me a beef stick and peanut butter pack. last 20 steps: 1- open the drawer 2- put packet on the table 3- put packet on the table 4- close the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put packets on the leftside 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packets on the leftside Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9316469698768323916.mp4"}
+{"uid":"17741632022953793306","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move to the left\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move to the left\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the bag and cap on the desk and hang them on the coat rack Q: immediate next step? \u003cPRED\u003eA: move to the left\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag and cap on the desk and hang them on the coat rack. last 20 steps: 1- move towards the table 2- pick the bag 3- move close to the stand 4- hang the green bag on the stand 5- move to the left 6- move close to the cap 7- pick the cap 8- move to the right 9- hang the cap to the stand Q: immediate next step? \u003cPRED\u003eA: move to the left\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag and cap on the desk and hang them on the coat rack. last 20 steps: 1- move towards the table 2- pick the bag 3- move close to the stand 4- hang the green bag on the stand 5- move to the left 6- move close to the cap 7- pick the cap 8- move to the right 9- hang the cap to the stand Q: next 5 steps? \u003cPRED\u003eA: 1- move to the left 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove 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","video":"13442278648507538714.mp4"}
+{"uid":"13246092923046656090","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":"1008592223365436707.mp4"}
+{"uid":"10092347114360630999","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the blue pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13517888114918596578.mp4"}
+{"uid":"2854856420332068785","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ngo to the hanger Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7614409066916765930.mp4"}
+{"uid":"12700814060970534153","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace numi bag on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2360057980164401535.mp4"}
+{"uid":"2034886444646563778","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput yellow candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10679507318068183632.mp4"}
+{"uid":"14935755649469790295","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen top drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1860981183434407863.mp4"}
+{"uid":"9565769043046936296","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":"4361378042310613535.mp4"}
+{"uid":"18213253789209893355","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nClose to the top drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6159491819692441607.mp4"}
+{"uid":"3311351719212566046","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace orange 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":"17274066710948266177.mp4"}
+{"uid":"4807610993440272569","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place green cup upside down on counter\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace green cup upside down on counter Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18330195635070416116.mp4"}
+{"uid":"10132080011459705995","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the green dishware back into the drawer neatly. last 20 steps: 1- open top drawer 2- place brush in top drawer 3- place brush in top drawer 4- place green cup upside down on counter 5- place green cup in top drawer Q: next 5 steps? \u003cPRED\u003eA: 1- close the top drawer 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose 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\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the top drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose 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:planning:freeform\u003e\ncurrent goal is: please put all the green dishware back into the drawer neatly Q: immediate next step? \u003cPRED\u003eA: close the top drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the top drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the green dishware back into the drawer neatly. last 20 steps: 1- open top drawer 2- place brush in top drawer 3- place brush in top drawer 4- place green cup upside down on counter 5- place green cup in top drawer Q: immediate next step? \u003cPRED\u003eA: close the top drawer\n\u003c/PRED\u003e","video":"8908241758559661396.mp4"}
+{"uid":"10586778392217483563","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the blue pen tray near the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the blue pen tray near 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: Replace the pens with highlighters from the pen holder Q: immediate next step? \u003cPRED\u003eA: place the blue pen tray near the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Replace the pens with highlighters from the pen holder. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the blue pen tray near 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 tray near the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Replace the pens with highlighters from the pen holder. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the blue pen tray near the pen holder 2- place the blue pen in the tray 3- place the blue pen in the tray 4- arrange the tray 5- place the red pen tray near the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the blue pen tray near 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":"17990696614735292792.mp4"}
+{"uid":"1791984490738387245","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the spoon in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12487404534340385450.mp4"}
+{"uid":"3396396402821944253","text":"\u003ctask:success:discrete:True\u003e\nplace brush in top drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place brush in top drawer\n\u003c/PRED\u003e","video":"4089963109554547568.mp4"}
+{"uid":"6081152283660327846","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Replace the pens with highlighters from the pen holder Q: immediate next step? \u003cPRED\u003eA: arrange the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\narrange 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: arrange the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: arrange the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Replace the pens with highlighters from the pen holder. last 20 steps: 1- place the blue pen tray near the pen holder 2- place the blue pen in the tray 3- place the blue pen in the tray 4- arrange the tray 5- place the red pen tray near the pen holder 6- place the red pen in the tray 7- place the red pen in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- arrange the tray 2- place the pen holder right side 3- open the blue marker tray 4- place the blue marker in the pen holder 5- place the marker in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\narrange 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: Replace the pens with highlighters from the pen holder. last 20 steps: 1- place the blue pen tray near the pen holder 2- place the blue pen in the tray 3- place the blue pen in the tray 4- arrange the tray 5- place the red pen tray near the pen holder 6- place the red pen in the tray 7- place the red pen in the tray Q: immediate next step? \u003cPRED\u003eA: arrange the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nplace cup on the other table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13631741590956211221.mp4"}
+{"uid":"17609357292703925926","text":"\u003ctask:success:discrete:False\u003e\narrange 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: arrange the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Replace the pens with highlighters from the pen holder. last 20 steps: 1- place the blue pen tray near the pen holder 2- place the blue pen in the tray 3- place the blue pen in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- arrange the tray 2- place the red pen tray near the pen holder 3- place the red pen in the tray 4- place the red pen in the tray 5- arrange the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: arrange the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\narrange 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: Replace the pens with highlighters from the pen holder. last 20 steps: 1- place the blue pen tray near the pen holder 2- place the blue pen in the tray 3- place the blue pen in the tray Q: immediate next step? \u003cPRED\u003eA: arrange the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Replace the pens with highlighters from the pen holder Q: immediate next step? \u003cPRED\u003eA: arrange the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nStack 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":"3215774046597214088.mp4"}
+{"uid":"13339559332755290314","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace mug on counter Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17791320596933147692.mp4"}
+{"uid":"15370797942774106039","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nhang the cap to 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":"16188739973562165939.mp4"}
+{"uid":"7739084911673808277","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the yellow marker tray near the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Replace the pens with highlighters from the pen holder. last 20 steps: 1- place the blue pen tray near the pen holder 2- place the blue pen in the tray 3- place the blue pen in the tray 4- arrange the tray 5- place the red pen tray near the pen holder 6- place the red pen in the tray 7- place the red pen in the tray 8- arrange the tray 9- place the pen holder right side 10- open the blue marker tray 11- place the blue marker in the pen holder 12- place the marker in the pen holder 13- push the tray back Q: immediate next step? \u003cPRED\u003eA: place the yellow marker tray near the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Replace the pens with highlighters from the pen holder. last 20 steps: 1- place the blue pen tray near the pen holder 2- place the blue pen in the tray 3- place the blue pen in the tray 4- arrange the tray 5- place the red pen tray near the pen holder 6- place the red pen in the tray 7- place the red pen in the tray 8- arrange the tray 9- place the pen holder right side 10- open the blue marker tray 11- place the blue marker in the pen holder 12- place the marker in the pen holder 13- push the tray back Q: next 5 steps? \u003cPRED\u003eA: 1- place the yellow marker tray near the pen holder 2- place the yellow marker in the pen holder 3- place the yellow marker in the pen holder 4- arrange the tray 5- open the green marker tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the yellow marker tray near 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 yellow marker tray near the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the yellow marker tray near 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: Replace the pens with highlighters from the pen holder Q: immediate next step? \u003cPRED\u003eA: place the yellow marker tray near the pen holder\n\u003c/PRED\u003e","video":"17807975798343075303.mp4"}
+{"uid":"15850085048788571638","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Replace the pens with highlighters from the pen holder. last 20 steps: 1- place the blue pen tray near the pen holder 2- place the blue pen in the tray 3- place the blue pen in the tray 4- arrange the tray 5- place the red pen tray near the pen holder 6- place the red pen in the tray 7- place the red pen in the tray 8- arrange the tray 9- place the pen holder right side 10- open the blue marker tray 11- place the blue marker in the pen holder 12- place the marker in the pen holder 13- push the tray back 14- place the yellow marker tray near the pen holder Q: immediate next step? \u003cPRED\u003eA: place the yellow marker in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Replace the pens with highlighters from the pen holder Q: immediate next step? \u003cPRED\u003eA: place the yellow marker 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 yellow marker in the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the yellow marker in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the yellow marker in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Replace the pens with highlighters from the pen holder. last 20 steps: 1- place the blue pen tray near the pen holder 2- place the blue pen in the tray 3- place the blue pen in the tray 4- arrange the tray 5- place the red pen tray near the pen holder 6- place the red pen in the tray 7- place the red pen in the tray 8- arrange the tray 9- place the pen holder right side 10- open the blue marker tray 11- place the blue marker in the pen holder 12- place the marker in the pen holder 13- push the tray back 14- place the yellow marker tray near the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the yellow marker in the pen holder 2- place the yellow marker in the pen holder 3- arrange the tray 4- open the green marker tray 5- place the green marker in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the yellow marker in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8223859243094270609.mp4"}
+{"uid":"868983644467375741","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pear on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14385844919287070970.mp4"}
+{"uid":"554253044350639345","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the banana on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16105899144932214351.mp4"}
+{"uid":"7065830782783947335","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the blue marker tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the blue marker 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: Replace the pens with highlighters from the pen holder. last 20 steps: 1- place the blue pen tray near the pen holder 2- place the blue pen in the tray 3- place the blue pen in the tray 4- arrange the tray 5- place the red pen tray near the pen holder 6- place the red pen in the tray 7- place the red pen in the tray 8- arrange the tray 9- place the pen holder right side Q: next 5 steps? \u003cPRED\u003eA: 1- open the blue marker tray 2- place the blue marker in the pen holder 3- place the marker in the pen holder 4- push the tray back 5- place the yellow marker tray near the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the blue marker 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: Replace the pens with highlighters from the pen holder. last 20 steps: 1- place the blue pen tray near the pen holder 2- place the blue pen in the tray 3- place the blue pen in the tray 4- arrange the tray 5- place the red pen tray near the pen holder 6- place the red pen in the tray 7- place the red pen in the tray 8- arrange the tray 9- place the pen holder right side Q: immediate next step? \u003cPRED\u003eA: open the blue marker tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Replace the pens with highlighters from the pen holder Q: immediate next step? \u003cPRED\u003eA: open the blue marker tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the blue marker tray\n\u003c/PRED\u003e","video":"2537271294543258941.mp4"}
+{"uid":"14455529450250600374","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5555279369593451280.mp4"}
+{"uid":"5111741498390081634","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":"10687314476572851461.mp4"}
+{"uid":"12243701266153308106","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the 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":"2670366745305470483.mp4"}
+{"uid":"9150146546431582109","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the yellow packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14220502336622457688.mp4"}
+{"uid":"14490081875902619345","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":"3184982726891246565.mp4"}
+{"uid":"3465126880070777592","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Replace the pens with highlighters from the pen holder. last 20 steps: 1- place the blue pen tray near the pen holder 2- place the blue pen in the tray Q: immediate next step? \u003cPRED\u003eA: place the blue pen in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the blue pen in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Replace the pens with highlighters from the pen holder. last 20 steps: 1- place the blue pen tray near the pen holder 2- place the blue pen in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the blue pen in the tray 2- arrange the tray 3- place the red pen tray near the pen holder 4- place the red pen in the tray 5- place the red pen in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the blue pen in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the blue pen in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Replace the pens with highlighters from the pen holder Q: immediate next step? \u003cPRED\u003eA: place the blue pen in the tray\n\u003c/PRED\u003e","video":"3543117259337912232.mp4"}
+{"uid":"17448391681871689539","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place brush in top drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace brush in 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:planning:freeform\u003e\ncurrent goal is: please put all the green dishware back into the drawer neatly Q: immediate next step? \u003cPRED\u003eA: place brush in top drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the green dishware back into the drawer neatly. last 20 steps: 1- open top drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place brush in top drawer 2- place brush in top drawer 3- place green cup upside down on counter 4- place green cup in top drawer 5- close the top drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the green dishware back into the drawer neatly. last 20 steps: 1- open top drawer Q: immediate next step? \u003cPRED\u003eA: place brush in top drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place brush in top drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace brush in 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":"17943122609324980997.mp4"}
+{"uid":"12731382716938915628","text":"\u003ctask:success:discrete:False\u003e\nplace the red pen in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the red pen in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Replace the pens with highlighters from the pen holder Q: immediate next step? \u003cPRED\u003eA: place the red pen in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Replace the pens with highlighters from the pen holder. last 20 steps: 1- place the blue pen tray near the pen holder 2- place the blue pen in the tray 3- place the blue pen in the tray 4- arrange the tray 5- place the red pen tray near the pen holder Q: immediate next step? \u003cPRED\u003eA: place the red pen in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Replace the pens with highlighters from the pen holder. last 20 steps: 1- place the blue pen tray near the pen holder 2- place the blue pen in the tray 3- place the blue pen in the tray 4- arrange the tray 5- place the red pen tray near the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the red pen in the tray 2- place the red pen in the tray 3- arrange the tray 4- place the pen holder right side 5- open the blue marker tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the red pen in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the red pen in the tray\n\u003c/PRED\u003e","video":"7985344998420431207.mp4"}
+{"uid":"4610652342694735552","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Replace the pens with highlighters from the pen holder Q: immediate next step? \u003cPRED\u003eA: push the tray back\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npush the tray back Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Replace the pens with highlighters from the pen holder. last 20 steps: 1- place the blue pen tray near the pen holder 2- place the blue pen in the tray 3- place the blue pen in the tray 4- arrange the tray 5- place the red pen tray near the pen holder 6- place the red pen in the tray 7- place the red pen in the tray 8- arrange the tray 9- place the pen holder right side 10- open the blue marker tray 11- place the blue marker in the pen holder 12- place the marker in the pen holder 13- push the tray back 14- place the yellow marker tray near the pen holder 15- place the yellow marker in the pen holder 16- place the yellow marker in the pen holder 17- arrange the tray 18- open the green marker tray 19- place the green marker in the pen holder 20- place the green marker in the pen holder Q: immediate next step? \u003cPRED\u003eA: push the tray back\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: push the tray back\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Replace the pens with highlighters from the pen holder. last 20 steps: 1- place the blue pen tray near the pen holder 2- place the blue pen in the tray 3- place the blue pen in the tray 4- arrange the tray 5- place the red pen tray near the pen holder 6- place the red pen in the tray 7- place the red pen in the tray 8- arrange the tray 9- place the pen holder right side 10- open the blue marker tray 11- place the blue marker in the pen holder 12- place the marker in the pen holder 13- push the tray back 14- place the yellow marker tray near the pen holder 15- place the yellow marker in the pen holder 16- place the yellow marker in the pen holder 17- arrange the tray 18- open the green marker tray 19- place the green marker in the pen holder 20- place the green marker in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- push the tray back 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: push the tray back\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npush the tray back Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14088180638340076585.mp4"}
+{"uid":"3208138278946547596","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sugar 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":"11544139969367948261.mp4"}
+{"uid":"11815020598358684772","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the coffee cup from 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":"1566118648888612712.mp4"}
+{"uid":"17831119262740505689","text":"\u003ctask:success:discrete:False\u003e\nplace the red pen tray near 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: Replace the pens with highlighters from the pen holder Q: immediate next step? \u003cPRED\u003eA: place the red pen tray near the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Replace the pens with highlighters from the pen holder. last 20 steps: 1- place the blue pen tray near the pen holder 2- place the blue pen in the tray 3- place the blue pen in the tray 4- arrange the tray Q: immediate next step? \u003cPRED\u003eA: place the red pen tray near the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the red pen tray near the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the red pen tray near 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: Replace the pens with highlighters from the pen holder. last 20 steps: 1- place the blue pen tray near the pen holder 2- place the blue pen in the tray 3- place the blue pen in the tray 4- arrange the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the red pen tray near the pen holder 2- place the red pen in the tray 3- place the red pen in the tray 4- arrange the tray 5- place the pen holder right side\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the red pen tray near the pen holder\n\u003c/PRED\u003e","video":"5182595168788225279.mp4"}
+{"uid":"6041373925313049372","text":"\u003ctask:success:discrete:True\u003e\narrange the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: arrange the tray\n\u003c/PRED\u003e","video":"11983414172947289264.mp4"}
+{"uid":"14232821272964322205","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place green cup in top drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace green cup in top 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":"1684530804310530913.mp4"}
+{"uid":"5127873900971953928","text":"\u003ctask:success:discrete:True\u003e\nplace brush in top drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place brush in top drawer\n\u003c/PRED\u003e","video":"14526980230485919680.mp4"}
+{"uid":"8254519265960506828","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the green dishware back into the drawer neatly. last 20 steps: 1- open top drawer 2- place brush in top drawer 3- place brush in top drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place green cup upside down on counter 2- place green cup in top drawer 3- close the top drawer 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the green dishware back into the drawer neatly Q: immediate next step? \u003cPRED\u003eA: place green cup upside down on counter\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place green cup upside down on counter\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace green cup upside down on counter Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\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 green cup upside down on counter Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\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 green dishware back into the drawer neatly. last 20 steps: 1- open top drawer 2- place brush in top drawer 3- place brush in top drawer Q: immediate next step? \u003cPRED\u003eA: place green cup upside down on counter\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place green cup upside down on counter\n\u003c/PRED\u003e","video":"9998009532202177885.mp4"}
+{"uid":"9695703711579285714","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Replace the pens with highlighters from the pen holder. last 20 steps: 1- place the blue pen tray near the pen holder 2- place the blue pen in the tray 3- place the blue pen in the tray 4- arrange the tray 5- place the red pen tray near the pen holder 6- place the red pen in the tray 7- place the red pen in the tray 8- arrange the tray 9- place the pen holder right side 10- open the blue marker tray 11- place the blue marker in the pen holder 12- place the marker in the pen holder 13- push the tray back 14- place the yellow marker tray near the pen holder 15- place the yellow marker in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the yellow marker in the pen holder 2- arrange the tray 3- open the green marker tray 4- place the green marker in the pen holder 5- place the green marker in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the yellow marker in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Replace the pens with highlighters from the pen holder Q: immediate next step? \u003cPRED\u003eA: place the yellow marker in the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Replace the pens with highlighters from the pen holder. last 20 steps: 1- place the blue pen tray near the pen holder 2- place the blue pen in the tray 3- place the blue pen in the tray 4- arrange the tray 5- place the red pen tray near the pen holder 6- place the red pen in the tray 7- place the red pen in the tray 8- arrange the tray 9- place the pen holder right side 10- open the blue marker tray 11- place the blue marker in the pen holder 12- place the marker in the pen holder 13- push the tray back 14- place the yellow marker tray near the pen holder 15- place the yellow marker in the pen holder Q: immediate next step? \u003cPRED\u003eA: place the yellow marker in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the yellow marker in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the yellow marker in the pen holder\n\u003c/PRED\u003e","video":"17105862893114740722.mp4"}
+{"uid":"9424610663956757295","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen holder right side Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen holder right side\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Replace the pens with highlighters from the pen holder Q: immediate next step? \u003cPRED\u003eA: place the pen holder right side\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pen holder right side Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Replace the pens with highlighters from the pen holder. last 20 steps: 1- place the blue pen tray near the pen holder 2- place the blue pen in the tray 3- place the blue pen in the tray 4- arrange the tray 5- place the red pen tray near the pen holder 6- place the red pen in the tray 7- place the red pen in the tray 8- arrange the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen holder right side 2- open the blue marker tray 3- place the blue marker in the pen holder 4- place the marker in the pen holder 5- push the tray back\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Replace the pens with highlighters from the pen holder. last 20 steps: 1- place the blue pen tray near the pen holder 2- place the blue pen in the tray 3- place the blue pen in the tray 4- arrange the tray 5- place the red pen tray near the pen holder 6- place the red pen in the tray 7- place the red pen in the tray 8- arrange the tray Q: immediate next step? \u003cPRED\u003eA: place the pen holder right side\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen holder right side\n\u003c/PRED\u003e","video":"9756027952986503947.mp4"}
+{"uid":"3328408572557055533","text":"\u003ctask:success:discrete:False\u003e\nopen 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:planning:freeform\u003e\ncurrent goal is: please put all the green dishware back into the drawer neatly Q: immediate next step? \u003cPRED\u003eA: open top drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open top drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the green dishware back into the drawer neatly. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open top drawer 2- place brush in top drawer 3- place brush in top drawer 4- place green cup upside down on counter 5- place green cup in top drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open top drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen 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\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the green dishware back into the drawer neatly. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open top drawer\n\u003c/PRED\u003e","video":"11007498528555477262.mp4"}
+{"uid":"12943857397098151777","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the green marker in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the green marker in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Replace the pens with highlighters from the pen holder. last 20 steps: 1- place the blue pen tray near the pen holder 2- place the blue pen in the tray 3- place the blue pen in the tray 4- arrange the tray 5- place the red pen tray near the pen holder 6- place the red pen in the tray 7- place the red pen in the tray 8- arrange the tray 9- place the pen holder right side 10- open the blue marker tray 11- place the blue marker in the pen holder 12- place the marker in the pen holder 13- push the tray back 14- place the yellow marker tray near the pen holder 15- place the yellow marker in the pen holder 16- place the yellow marker in the pen holder 17- arrange the tray 18- open the green marker tray Q: immediate next step? \u003cPRED\u003eA: place the green marker in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Replace the pens with highlighters from the pen holder. last 20 steps: 1- place the blue pen tray near the pen holder 2- place the blue pen in the tray 3- place the blue pen in the tray 4- arrange the tray 5- place the red pen tray near the pen holder 6- place the red pen in the tray 7- place the red pen in the tray 8- arrange the tray 9- place the pen holder right side 10- open the blue marker tray 11- place the blue marker in the pen holder 12- place the marker in the pen holder 13- push the tray back 14- place the yellow marker tray near the pen holder 15- place the yellow marker in the pen holder 16- place the yellow marker in the pen holder 17- arrange the tray 18- open the green marker tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the green marker in the pen holder 2- place the green marker in the pen holder 3- push the tray back 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the green marker in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the green marker in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Replace the pens with highlighters from the pen holder Q: immediate next step? \u003cPRED\u003eA: place the green marker in the pen holder\n\u003c/PRED\u003e","video":"920114019180094974.mp4"}
+{"uid":"16693531099057261382","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":"14887104946445674147.mp4"}
+{"uid":"9535764215453053605","text":"\u003ctask:success:discrete:False\u003e\nplace the blue marker in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the blue marker in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Replace the pens with highlighters from the pen holder Q: immediate next step? \u003cPRED\u003eA: place the blue marker in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the blue marker in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Replace the pens with highlighters from the pen holder. last 20 steps: 1- place the blue pen tray near the pen holder 2- place the blue pen in the tray 3- place the blue pen in the tray 4- arrange the tray 5- place the red pen tray near the pen holder 6- place the red pen in the tray 7- place the red pen in the tray 8- arrange the tray 9- place the pen holder right side 10- open the blue marker tray Q: immediate next step? \u003cPRED\u003eA: place the blue marker in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Replace the pens with highlighters from the pen holder. last 20 steps: 1- place the blue pen tray near the pen holder 2- place the blue pen in the tray 3- place the blue pen in the tray 4- arrange the tray 5- place the red pen tray near the pen holder 6- place the red pen in the tray 7- place the red pen in the tray 8- arrange the tray 9- place the pen holder right side 10- open the blue marker tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the blue marker in the pen holder 2- place the marker in the pen holder 3- push the tray back 4- place the yellow marker tray near the pen holder 5- place the yellow marker 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 marker in the pen holder\n\u003c/PRED\u003e","video":"16340339784476789735.mp4"}
+{"uid":"4418812657434700120","text":"\u003ctask:success:discrete:False\u003e\nplace the blue pen in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the blue pen in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the blue pen in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Replace the pens with highlighters from the pen holder Q: immediate next step? \u003cPRED\u003eA: place the blue pen in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Replace the pens with highlighters from the pen holder. last 20 steps: 1- place the blue pen tray near the pen holder Q: immediate next step? \u003cPRED\u003eA: place the blue pen in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Replace the pens with highlighters from the pen holder. last 20 steps: 1- place the blue pen tray near the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the blue pen in the tray 2- place the blue pen in the tray 3- arrange the tray 4- place the red pen tray near the pen holder 5- place the red pen in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the blue pen in the tray\n\u003c/PRED\u003e","video":"10281267485956566293.mp4"}
+{"uid":"15363184785390747029","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Replace the pens with highlighters from the pen holder. last 20 steps: 1- place the blue pen tray near the pen holder 2- place the blue pen in the tray 3- place the blue pen in the tray 4- arrange the tray 5- place the red pen tray near the pen holder 6- place the red pen in the tray 7- place the red pen in the tray 8- arrange the tray 9- place the pen holder right side 10- open the blue marker tray 11- place the blue marker in the pen holder 12- place the marker in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- push the tray back 2- place the yellow marker tray near the pen holder 3- place the yellow marker in the pen holder 4- place the yellow marker in the pen holder 5- arrange the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: push the tray back\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Replace the pens with highlighters from the pen holder. last 20 steps: 1- place the blue pen tray near the pen holder 2- place the blue pen in the tray 3- place the blue pen in the tray 4- arrange the tray 5- place the red pen tray near the pen holder 6- place the red pen in the tray 7- place the red pen in the tray 8- arrange the tray 9- place the pen holder right side 10- open the blue marker tray 11- place the blue marker in the pen holder 12- place the marker in the pen holder Q: immediate next step? \u003cPRED\u003eA: push the tray back\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: push the tray back\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npush the tray back Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Replace the pens with highlighters from the pen holder Q: immediate next step? \u003cPRED\u003eA: push the tray back\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npush the tray back Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5639893143654588833.mp4"}
+{"uid":"4231142213336259030","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the red pen in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Replace the pens with highlighters from the pen holder. last 20 steps: 1- place the blue pen tray near the pen holder 2- place the blue pen in the tray 3- place the blue pen in the tray 4- arrange the tray 5- place the red pen tray near the pen holder 6- place the red pen in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the red pen in the tray 2- arrange the tray 3- place the pen holder right side 4- open the blue marker tray 5- place the blue marker in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the red pen in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the red pen in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Replace the pens with highlighters from the pen holder. last 20 steps: 1- place the blue pen tray near the pen holder 2- place the blue pen in the tray 3- place the blue pen in the tray 4- arrange the tray 5- place the red pen tray near the pen holder 6- place the red pen in the tray Q: immediate next step? \u003cPRED\u003eA: place the red pen in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Replace the pens with highlighters from the pen holder Q: immediate next step? \u003cPRED\u003eA: place the red pen in the tray\n\u003c/PRED\u003e","video":"7693393674911672160.mp4"}
+{"uid":"12732779000810877748","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":"17315905920855481278.mp4"}
+{"uid":"5926810150025234639","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place brush in top drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the green dishware back into the drawer neatly. last 20 steps: 1- open top drawer 2- place brush in top drawer Q: immediate next step? \u003cPRED\u003eA: place brush in top drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the green dishware back into the drawer neatly. last 20 steps: 1- open top drawer 2- place brush in top drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place brush in top drawer 2- place green cup upside down on counter 3- place green cup in top drawer 4- close the top drawer 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace brush in 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\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the green dishware back into the drawer neatly Q: immediate next step? \u003cPRED\u003eA: place brush in top drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place brush in top drawer\n\u003c/PRED\u003e","video":"7734279706438037584.mp4"}
+{"uid":"2243284727951729815","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the green marker in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Replace the pens with highlighters from the pen holder. last 20 steps: 1- place the blue pen tray near the pen holder 2- place the blue pen in the tray 3- place the blue pen in the tray 4- arrange the tray 5- place the red pen tray near the pen holder 6- place the red pen in the tray 7- place the red pen in the tray 8- arrange the tray 9- place the pen holder right side 10- open the blue marker tray 11- place the blue marker in the pen holder 12- place the marker in the pen holder 13- push the tray back 14- place the yellow marker tray near the pen holder 15- place the yellow marker in the pen holder 16- place the yellow marker in the pen holder 17- arrange the tray 18- open the green marker tray 19- place the green marker in the pen holder Q: immediate next step? \u003cPRED\u003eA: place the green marker in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Replace the pens with highlighters from the pen holder. last 20 steps: 1- place the blue pen tray near the pen holder 2- place the blue pen in the tray 3- place the blue pen in the tray 4- arrange the tray 5- place the red pen tray near the pen holder 6- place the red pen in the tray 7- place the red pen in the tray 8- arrange the tray 9- place the pen holder right side 10- open the blue marker tray 11- place the blue marker in the pen holder 12- place the marker in the pen holder 13- push the tray back 14- place the yellow marker tray near the pen holder 15- place the yellow marker in the pen holder 16- place the yellow marker in the pen holder 17- arrange the tray 18- open the green marker tray 19- place the green marker in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the green marker in the pen holder 2- push the tray back 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the green marker in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Replace the pens with highlighters from the pen holder Q: immediate next step? \u003cPRED\u003eA: place the green marker in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the green marker in the pen holder\n\u003c/PRED\u003e","video":"9294574059504822006.mp4"}
+{"uid":"4759544852630844538","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pen 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":"13522259184012709284.mp4"}
+{"uid":"5831298873909501685","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the candy into thee 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":"13863754597676952904.mp4"}
+{"uid":"17120111319690735614","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the thread bundle in a box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15152202156501786382.mp4"}
+{"uid":"6986427907309614278","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the marker in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the marker in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Replace the pens with highlighters from the pen holder Q: immediate next step? \u003cPRED\u003eA: place the marker in the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the marker in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the marker in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Replace the pens with highlighters from the pen holder. last 20 steps: 1- place the blue pen tray near the pen holder 2- place the blue pen in the tray 3- place the blue pen in the tray 4- arrange the tray 5- place the red pen tray near the pen holder 6- place the red pen in the tray 7- place the red pen in the tray 8- arrange the tray 9- place the pen holder right side 10- open the blue marker tray 11- place the blue marker in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the marker in the pen holder 2- push the tray back 3- place the yellow marker tray near the pen holder 4- place the yellow marker in the pen holder 5- place the yellow marker in the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Replace the pens with highlighters from the pen holder. last 20 steps: 1- place the blue pen tray near the pen holder 2- place the blue pen in the tray 3- place the blue pen in the tray 4- arrange the tray 5- place the red pen tray near the pen holder 6- place the red pen in the tray 7- place the red pen in the tray 8- arrange the tray 9- place the pen holder right side 10- open the blue marker tray 11- place the blue marker in the pen holder Q: immediate next step? \u003cPRED\u003eA: place the marker in the pen holder\n\u003c/PRED\u003e","video":"8099593778163087710.mp4"}
+{"uid":"12789617189198601131","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: arrange the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\narrange the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4825153383368763935.mp4"}
+{"uid":"10624410252138552407","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npull the wiper from 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":"7925769645225864000.mp4"}
+{"uid":"16355599909432633960","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Replace the pens with highlighters from the pen holder. last 20 steps: 1- place the blue pen tray near the pen holder 2- place the blue pen in the tray 3- place the blue pen in the tray 4- arrange the tray 5- place the red pen tray near the pen holder 6- place the red pen in the tray 7- place the red pen in the tray 8- arrange the tray 9- place the pen holder right side 10- open the blue marker tray 11- place the blue marker in the pen holder 12- place the marker in the pen holder 13- push the tray back 14- place the yellow marker tray near the pen holder 15- place the yellow marker in the pen holder 16- place the yellow marker in the pen holder Q: immediate next step? \u003cPRED\u003eA: arrange the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Replace the pens with highlighters from the pen holder. last 20 steps: 1- place the blue pen tray near the pen holder 2- place the blue pen in the tray 3- place the blue pen in the tray 4- arrange the tray 5- place the red pen tray near the pen holder 6- place the red pen in the tray 7- place the red pen in the tray 8- arrange the tray 9- place the pen holder right side 10- open the blue marker tray 11- place the blue marker in the pen holder 12- place the marker in the pen holder 13- push the tray back 14- place the yellow marker tray near the pen holder 15- place the yellow marker in the pen holder 16- place the yellow marker in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- arrange the tray 2- open the green marker tray 3- place the green marker in the pen holder 4- place the green marker in the pen holder 5- push the tray back\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: arrange the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\narrange 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: arrange the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\narrange 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: Replace the pens with highlighters from the pen holder Q: immediate next step? \u003cPRED\u003eA: arrange the tray\n\u003c/PRED\u003e","video":"16969815174365058380.mp4"}
+{"uid":"6985264806352122605","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":"15944436006035213186.mp4"}
+{"uid":"8330146339236277509","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGo back 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":"10348820116909097570.mp4"}
+{"uid":"11364873402391270692","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the green marker tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Replace the pens with highlighters from the pen holder Q: immediate next step? \u003cPRED\u003eA: open the green marker tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Replace the pens with highlighters from the pen holder. last 20 steps: 1- place the blue pen tray near the pen holder 2- place the blue pen in the tray 3- place the blue pen in the tray 4- arrange the tray 5- place the red pen tray near the pen holder 6- place the red pen in the tray 7- place the red pen in the tray 8- arrange the tray 9- place the pen holder right side 10- open the blue marker tray 11- place the blue marker in the pen holder 12- place the marker in the pen holder 13- push the tray back 14- place the yellow marker tray near the pen holder 15- place the yellow marker in the pen holder 16- place the yellow marker in the pen holder 17- arrange the tray Q: immediate next step? \u003cPRED\u003eA: open the green marker tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the green marker 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: Replace the pens with highlighters from the pen holder. last 20 steps: 1- place the blue pen tray near the pen holder 2- place the blue pen in the tray 3- place the blue pen in the tray 4- arrange the tray 5- place the red pen tray near the pen holder 6- place the red pen in the tray 7- place the red pen in the tray 8- arrange the tray 9- place the pen holder right side 10- open the blue marker tray 11- place the blue marker in the pen holder 12- place the marker in the pen holder 13- push the tray back 14- place the yellow marker tray near the pen holder 15- place the yellow marker in the pen holder 16- place the yellow marker in the pen holder 17- arrange the tray Q: next 5 steps? \u003cPRED\u003eA: 1- open the green marker tray 2- place the green marker in the pen holder 3- place the green marker in the pen holder 4- push the tray back 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the green marker 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: open the green marker tray\n\u003c/PRED\u003e","video":"16973969239317017306.mp4"}
+{"uid":"16877978794123411721","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place green cup in top drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the green dishware back into the drawer neatly. last 20 steps: 1- open top drawer 2- place brush in top drawer 3- place brush in top drawer 4- place green cup upside down on counter Q: next 5 steps? \u003cPRED\u003eA: 1- place green cup in top drawer 2- close the top drawer 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace green cup in 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:planning:freeform\u003e\ncurrent goal is: please put all the green dishware back into the drawer neatly Q: immediate next step? \u003cPRED\u003eA: place green cup in top drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place green cup in top drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace green cup in 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\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the green dishware back into the drawer neatly. last 20 steps: 1- open top drawer 2- place brush in top drawer 3- place brush in top drawer 4- place green cup upside down on counter Q: immediate next step? \u003cPRED\u003eA: place green cup in top drawer\n\u003c/PRED\u003e","video":"16249020632601137155.mp4"}
+{"uid":"18233285785669621958","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace 3 black pens inside the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10463104269730888648.mp4"}
+{"uid":"1361855050102710070","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace red packet in the right glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"235060642040158724.mp4"}
+{"uid":"122790525235285815","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up 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":"13793073298279606419.mp4"}
+{"uid":"10101664536610881883","text":"\u003ctask:success:discrete:True\u003e\nplace the banana in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the banana in the bowl\n\u003c/PRED\u003e","video":"1253563017543858871.mp4"}
+{"uid":"11263301142580665474","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pour me some cereal than grab me a spoon, napkin, and banana. last 20 steps: 1- keep the bowl upright 2- pour chick peas into the bowl 3- put glass on the table 4- keep the glass straight 5- move glass to the right of bowl 6- put banana on the table 7- move banana to the right of the bowl 8- take out a tissue paper 9- put tissue paper on the table Q: next 5 steps? \u003cPRED\u003eA: 1- move tissue paper to the up 2- put spoon in the bowl 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move tissue paper to the up\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pour me some cereal than grab me a spoon, napkin, and banana Q: immediate next step? \u003cPRED\u003eA: move tissue paper to the up\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove tissue paper to the up Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move tissue paper to the up\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pour me some cereal than grab me a spoon, napkin, and banana. last 20 steps: 1- keep the bowl upright 2- pour chick peas into the bowl 3- put glass on the table 4- keep the glass straight 5- move glass to the right of bowl 6- put banana on the table 7- move banana to the right of the bowl 8- take out a tissue paper 9- put tissue paper on the table Q: immediate next step? \u003cPRED\u003eA: move tissue paper to the up\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove tissue paper to the up Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18439113299234234996.mp4"}
+{"uid":"17414965295806014150","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pista in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6882306665389337358.mp4"}
+{"uid":"10760764889503393728","text":"\u003ctask:success:discrete:False\u003e\nkeep the glass straight Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\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 some cereal than grab me a spoon, napkin, and banana. last 20 steps: 1- keep the bowl upright 2- pour chick peas into the bowl 3- put glass on the table Q: immediate next step? \u003cPRED\u003eA: keep the glass straight\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pour me some cereal than grab me a spoon, napkin, and banana. last 20 steps: 1- keep the bowl upright 2- pour chick peas into the bowl 3- put glass on the table Q: next 5 steps? \u003cPRED\u003eA: 1- keep the glass straight 2- move glass to the right of bowl 3- put banana on the table 4- move banana to the right of the bowl 5- take out a tissue paper\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nkeep the glass straight Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: keep the glass straight\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pour me some cereal than grab me a spoon, napkin, and banana Q: immediate next step? \u003cPRED\u003eA: keep the glass straight\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: keep the glass straight\n\u003c/PRED\u003e","video":"2254035079753090714.mp4"}
+{"uid":"9968133053632497428","text":"\u003ctask:success:discrete:False\u003e\nplace the banana in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please carefully place the bananas into the fruit bow neatly. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the banana in the bowl 2- place the banana in the bowl 3- place the banana in the bowl 4- place the banana in the bowl 5- place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please carefully place the bananas into the fruit bow neatly Q: immediate next step? \u003cPRED\u003eA: place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please carefully place the bananas into the fruit bow neatly. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the banana in the bowl\n\u003c/PRED\u003e","video":"5101451590886971512.mp4"}
+{"uid":"8101393346572159806","text":"\u003ctask:success:discrete:True\u003e\nkeep the bowl upright Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: keep the bowl upright\n\u003c/PRED\u003e","video":"18084266042057604375.mp4"}
+{"uid":"311068495552570767","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ngo to the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5269298792604306515.mp4"}
+{"uid":"9783192125639335594","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put banana on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove banana to the right of 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:True\u003e\nput banana on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove banana to the right of the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pour me some cereal than grab me a spoon, napkin, and banana. last 20 steps: 1- keep the bowl upright 2- pour chick peas into the bowl 3- put glass on the table 4- keep the glass straight 5- move glass to the right of bowl 6- put banana on the table Q: next 5 steps? \u003cPRED\u003eA: 1- move banana to the right of the bowl 2- take out a tissue paper 3- put tissue paper on the table 4- move tissue paper to the up 5- put spoon in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move banana to the right of the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move banana to the right of the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pour me some cereal than grab me a spoon, napkin, and banana Q: immediate next step? \u003cPRED\u003eA: move banana to the right of the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pour me some cereal than grab me a spoon, napkin, and banana. last 20 steps: 1- keep the bowl upright 2- pour chick peas into the bowl 3- put glass on the table 4- keep the glass straight 5- move glass to the right of bowl 6- put banana on the table Q: immediate next step? \u003cPRED\u003eA: move banana to the right of the bowl\n\u003c/PRED\u003e","video":"8992307997244522587.mp4"}
+{"uid":"6987794077782624865","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the banana on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the banana on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4432321490885004580.mp4"}
+{"uid":"15455599515637278896","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please carefully place the bananas into the fruit bow neatly Q: immediate next step? \u003cPRED\u003eA: place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please carefully place the bananas into the fruit bow neatly. last 20 steps: 1- place the banana in the bowl 2- place the banana in the bowl 3- place the banana in the bowl Q: immediate next step? \u003cPRED\u003eA: place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please carefully place the bananas into the fruit bow neatly. last 20 steps: 1- place the banana in the bowl 2- place the banana in the bowl 3- place the banana in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the banana in the bowl 2- place the banana in the bowl 3- place the banana in the bowl 4- place the banana in the bowl 5- place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the banana in the bowl\n\u003c/PRED\u003e","video":"4654060301450775159.mp4"}
+{"uid":"2141125442948685","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pour me some cereal than grab me a spoon, napkin, and banana. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put small up upright 2- pour chick peas into the bowl 3- put glass on the table 4- keep the glass straight 5- move glass to the right of bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput small up upright Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put small up upright\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pour me some cereal than grab me a spoon, napkin, and banana. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put small up upright\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pour me some cereal than grab me a spoon, napkin, and banana Q: immediate next step? \u003cPRED\u003eA: put small up upright\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put small up upright\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput small up upright Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7673027836261535396.mp4"}
+{"uid":"8493941031299348836","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the cereal 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":"17478164853283839299.mp4"}
+{"uid":"11724990926475717946","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the banana in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7577079156666977459.mp4"}
+{"uid":"18248809128598583095","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pour me some cereal than grab me a spoon, napkin, and banana. last 20 steps: 1- keep the bowl upright 2- pour chick peas into the bowl 3- put glass on the table 4- keep the glass straight 5- move glass to the right of bowl 6- put banana on the table 7- move banana to the right of the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the tissue papers on the table 2- put spoon in the bowl 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the tissue papers on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\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 some cereal than grab me a spoon, napkin, and banana. last 20 steps: 1- keep the bowl upright 2- pour chick peas into the bowl 3- put glass on the table 4- keep the glass straight 5- move glass to the right of bowl 6- put banana on the table 7- move banana to the right of the bowl Q: immediate next step? \u003cPRED\u003eA: place the tissue papers 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 papers on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the tissue papers on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 pour me some cereal than grab me a spoon, napkin, and banana Q: immediate next step? \u003cPRED\u003eA: place the tissue papers on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the tissue papers on the table\n\u003c/PRED\u003e","video":"6607725503851568027.mp4"}
+{"uid":"15731827399690330600","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack a 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":"18253037504007562219.mp4"}
+{"uid":"13966860615075133445","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please carefully place the bananas into the fruit bow neatly. last 20 steps: 1- place the banana in the bowl 2- place the banana in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the banana in the bowl 2- place the banana in the bowl 3- place the banana in the bowl 4- place the banana in the bowl 5- place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please carefully place the bananas into the fruit bow neatly. last 20 steps: 1- place the banana in the bowl 2- place the banana in the bowl Q: immediate next step? \u003cPRED\u003eA: place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please carefully place the bananas into the fruit bow neatly Q: immediate next step? \u003cPRED\u003eA: place the banana in the bowl\n\u003c/PRED\u003e","video":"9542451443910874763.mp4"}
+{"uid":"15432619742455513021","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pour me some cereal than grab me a spoon, napkin, and banana. last 20 steps: 1- keep the bowl upright 2- pour chick peas into the bowl 3- put glass on the table 4- keep the glass straight 5- move glass to the right of bowl Q: immediate next step? \u003cPRED\u003eA: place the banana on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the banana on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the banana on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pour me some cereal than grab me a spoon, napkin, and banana Q: immediate next step? \u003cPRED\u003eA: place the banana on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the banana on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pour me some cereal than grab me a spoon, napkin, and banana. last 20 steps: 1- keep the bowl upright 2- pour chick peas into the bowl 3- put glass on the table 4- keep the glass straight 5- move glass to the right of bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the banana on the table 2- move banana to the right of the bowl 3- take out a tissue paper 4- put tissue paper on the table 5- move tissue paper to the up\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the banana on the table\n\u003c/PRED\u003e","video":"2803438994921788555.mp4"}
+{"uid":"13616547774827718832","text":"\u003ctask:success:discrete:True\u003e\nput small up upright Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put small up upright\n\u003c/PRED\u003e","video":"16857707670658694844.mp4"}
+{"uid":"16134192052354111555","text":"\u003ctask:success:discrete:True\u003e\nput tissue 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 tissue on table\n\u003c/PRED\u003e","video":"13856625471552692994.mp4"}
+{"uid":"16554008712674290044","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the sanitizer bottle 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":"7624634437101946117.mp4"}
+{"uid":"17313750590322409737","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the black 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":"5940819110251896030.mp4"}
+{"uid":"248050412285068062","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput cherry 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":"8757613003318904789.mp4"}
+{"uid":"5274693273482660554","text":"\u003ctask:success:discrete:False\u003e\nput banana on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pour me some cereal than grab me a spoon, napkin, and banana Q: immediate next step? \u003cPRED\u003eA: put banana on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put banana on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput banana 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 pour me some cereal than grab me a spoon, napkin, and banana. last 20 steps: 1- keep the bowl upright 2- pour chick peas into the bowl 3- put glass on the table 4- keep the glass straight 5- move glass to the right of bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put banana on table 2- move banana to the right of the bowl 3- take out a tissue paper 4- put tissue paper on the table 5- move tissue paper to the up\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pour me some cereal than grab me a spoon, napkin, and banana. last 20 steps: 1- keep the bowl upright 2- pour chick peas into the bowl 3- put glass on the table 4- keep the glass straight 5- move glass to the right of bowl Q: immediate next step? \u003cPRED\u003eA: put banana on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put banana on table\n\u003c/PRED\u003e","video":"15843645397139960763.mp4"}
+{"uid":"1167230820045088883","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the bowl right side up\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the bowl right side 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":"12500907154060144505.mp4"}
+{"uid":"5998348878434848329","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ntouch 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":"5917878504758473333.mp4"}
+{"uid":"5372604567148351204","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":"8790250328960282680.mp4"}
+{"uid":"5165454844498416697","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the apple 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":"10950209993017845632.mp4"}
+{"uid":"6808945201767235071","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put spoon in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput spoon in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pour me some cereal than grab me a spoon, napkin, and banana Q: immediate next step? \u003cPRED\u003eA: put spoon in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pour me some cereal than grab me a spoon, napkin, and banana. last 20 steps: 1- keep the bowl upright 2- pour chick peas into the bowl 3- put glass on the table 4- keep the glass straight 5- move glass to the right of bowl 6- put banana on the table 7- move banana to the right of the bowl 8- take out a tissue paper 9- put tissue paper on the table 10- move tissue paper to the up Q: next 5 steps? \u003cPRED\u003eA: 1- put spoon in the bowl 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put spoon in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pour me some cereal than grab me a spoon, napkin, and banana. last 20 steps: 1- keep the bowl upright 2- pour chick peas into the bowl 3- put glass on the table 4- keep the glass straight 5- move glass to the right of bowl 6- put banana on the table 7- move banana to the right of the bowl 8- take out a tissue paper 9- put tissue paper on the table 10- move tissue paper to the up Q: immediate next step? \u003cPRED\u003eA: put spoon in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput spoon in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8704977787138737936.mp4"}
+{"uid":"11771834724719208858","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut yellow candy in a bowl. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3811784497665987203.mp4"}
+{"uid":"1246868923204864198","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the bowl right side up Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pour me some cereal than grab me a spoon, napkin, and banana. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the bowl right side up\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the bowl right side up\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the bowl right side up Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pour me some cereal than grab me a spoon, napkin, and banana Q: immediate next step? \u003cPRED\u003eA: place the bowl right side up\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pour me some cereal than grab me a spoon, napkin, and banana. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the bowl right side up 2- pour chick peas into the bowl 3- put glass on the table 4- keep the glass straight 5- move glass to the right of bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the bowl right side up\n\u003c/PRED\u003e","video":"16949054898823343007.mp4"}
+{"uid":"17049600374277193291","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2374162450600889085.mp4"}
+{"uid":"10324125041414694040","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":"4813492546330599137.mp4"}
+{"uid":"8547563011630929019","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop 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":"9202620151014282463.mp4"}
+{"uid":"15625670487607939128","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please pour me some cereal than grab me a spoon, napkin, and banana Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put spoon in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput spoon in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pour me some cereal than grab me a spoon, napkin, and banana. last 20 steps: 1- keep the bowl upright 2- pour chick peas into the bowl 3- put glass on the table 4- keep the glass straight 5- move glass to the right of bowl 6- put banana on the table 7- move banana to the right of the bowl 8- take out a tissue paper 9- put tissue paper on the table 10- move tissue paper to the up 11- put spoon in the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pour me some cereal than grab me a spoon, napkin, and banana. last 20 steps: 1- keep the bowl upright 2- pour chick peas into the bowl 3- put glass on the table 4- keep the glass straight 5- move glass to the right of bowl 6- put banana on the table 7- move banana to the right of the bowl 8- take out a tissue paper 9- put tissue paper on the table 10- move tissue paper to the up 11- put spoon in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"9562318865590276024.mp4"}
+{"uid":"17129134684308679115","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"16197955690927652113.mp4"}
+{"uid":"11487613186928458959","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":"233943362637552052.mp4"}
+{"uid":"6289661981086885941","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pour chick peas into the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npour chick peas into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5131950410994120086.mp4"}
+{"uid":"14183245499238502535","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please carefully place the bananas into the fruit bow neatly Q: immediate next step? \u003cPRED\u003eA: place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please carefully place the bananas into the fruit bow neatly. last 20 steps: 1- place the banana in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the banana in the bowl 2- place the banana in the bowl 3- place the banana in the bowl 4- place the banana in the bowl 5- place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please carefully place the bananas into the fruit bow neatly. last 20 steps: 1- place the banana in the bowl Q: immediate next step? \u003cPRED\u003eA: place the banana in the bowl\n\u003c/PRED\u003e","video":"17593655539911911453.mp4"}
+{"uid":"5160975731548581537","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: adjust the tissue\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: adjust the tissue\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pour me some cereal than grab me a spoon, napkin, and banana. last 20 steps: 1- keep the bowl upright 2- pour chick peas into the bowl 3- put glass on the table 4- keep the glass straight 5- move glass to the right of bowl 6- put banana on the table 7- move banana to the right of the bowl 8- take out a tissue paper 9- put tissue paper on the table Q: immediate next step? \u003cPRED\u003eA: adjust the tissue\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nadjust 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:planning:freeform\u003e\ncurrent goal is: please pour me some cereal than grab me a spoon, napkin, and banana Q: immediate next step? \u003cPRED\u003eA: adjust the tissue\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nadjust 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: please pour me some cereal than grab me a spoon, napkin, and banana. last 20 steps: 1- keep the bowl upright 2- pour chick peas into the bowl 3- put glass on the table 4- keep the glass straight 5- move glass to the right of bowl 6- put banana on the table 7- move banana to the right of the bowl 8- take out a tissue paper 9- put tissue paper on the table Q: next 5 steps? \u003cPRED\u003eA: 1- adjust the tissue 2- put spoon in the bowl 3- done\n\u003c/PRED\u003e","video":"12668749849122707815.mp4"}
+{"uid":"16413375685617892161","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pour the chocolate balls in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPour the chocolate balls 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":"9029341028468317327.mp4"}
+{"uid":"5022879875668739421","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the red pen inside the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"802165554283503902.mp4"}
+{"uid":"832017170661793984","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the white paper on 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":"5495115943484724950.mp4"}
+{"uid":"6962638290902346094","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please carefully place the bananas into the fruit bow neatly. last 20 steps: 1- place the banana in the bowl 2- place the banana in the bowl 3- place the banana in the bowl 4- place the banana in the bowl 5- place the banana in the bowl 6- place the banana in the bowl Q: immediate next step? \u003cPRED\u003eA: place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please carefully place the bananas into the fruit bow neatly. last 20 steps: 1- place the banana in the bowl 2- place the banana in the bowl 3- place the banana in the bowl 4- place the banana in the bowl 5- place the banana in the bowl 6- place the banana in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the banana in the bowl 2- place the banana in the bowl 3- place the banana in the bowl 4- place the banana in the bowl 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please carefully place the bananas into the fruit bow neatly Q: immediate next step? \u003cPRED\u003eA: place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6774629331410013828.mp4"}
+{"uid":"5187521577467791490","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove the holder forward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15904917857441598226.mp4"}
+{"uid":"8719940124869874997","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop green candy into 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":"9307018389670501625.mp4"}
+{"uid":"4092997193895031207","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":"11037748639220776124.mp4"}
+{"uid":"8469590116757204710","text":"\u003ctask:success:discrete:False\u003e\nput banana on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put banana on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput banana on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put banana on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pour me some cereal than grab me a spoon, napkin, and banana. last 20 steps: 1- keep the bowl upright 2- pour chick peas into the bowl 3- put glass on the table 4- keep the glass straight 5- move glass to the right of bowl Q: immediate next step? \u003cPRED\u003eA: put banana on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pour me some cereal than grab me a spoon, napkin, and banana Q: immediate next step? \u003cPRED\u003eA: put banana on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pour me some cereal than grab me a spoon, napkin, and banana. last 20 steps: 1- keep the bowl upright 2- pour chick peas into the bowl 3- put glass on the table 4- keep the glass straight 5- move glass to the right of bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put banana on the table 2- move banana to the right of the bowl 3- take out a tissue paper 4- put tissue paper on the table 5- move tissue paper to the up\n\u003c/PRED\u003e","video":"13004452253233277741.mp4"}
+{"uid":"4732186556206500722","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the top drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12074997076139899944.mp4"}
+{"uid":"18209706170206504739","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":"17356827642885915218.mp4"}
+{"uid":"3835147107510690815","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the blue 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":"1460403320890922905.mp4"}
+{"uid":"1407492396182071558","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please carefully place the bananas into the fruit bow neatly Q: immediate next step? \u003cPRED\u003eA: place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please carefully place the bananas into the fruit bow neatly. last 20 steps: 1- place the banana in the bowl 2- place the banana in the bowl 3- place the banana in the bowl 4- place the banana in the bowl 5- place the banana in the bowl 6- place the banana in the bowl 7- place the banana in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the banana in the bowl 2- place the banana in the bowl 3- place the banana in the bowl 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please carefully place the bananas into the fruit bow neatly. last 20 steps: 1- place the banana in the bowl 2- place the banana in the bowl 3- place the banana in the bowl 4- place the banana in the bowl 5- place the banana in the bowl 6- place the banana in the bowl 7- place the banana in the bowl Q: immediate next step? \u003cPRED\u003eA: place the banana in the bowl\n\u003c/PRED\u003e","video":"15086724960594762274.mp4"}
+{"uid":"1226117619380695356","text":"\u003ctask:success:discrete:False\u003e\nAdjust the paper glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pour me some cereal than grab me a spoon, napkin, and banana. last 20 steps: 1- keep the bowl upright 2- pour chick peas into the bowl 3- put glass on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Adjust the paper glass 2- put banana on the table 3- move banana to the right of the bowl 4- take out a tissue paper 5- put tissue paper on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Adjust the paper glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pour me some cereal than grab me a spoon, napkin, and banana. last 20 steps: 1- keep the bowl upright 2- pour chick peas into the bowl 3- put glass on the table Q: immediate next step? \u003cPRED\u003eA: Adjust the paper glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pour me some cereal than grab me a spoon, napkin, and banana Q: immediate next step? \u003cPRED\u003eA: Adjust the paper glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nAdjust the paper glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Adjust the paper glass\n\u003c/PRED\u003e","video":"2302912382328207027.mp4"}
+{"uid":"7234796229718759984","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pour me some cereal than grab me a spoon, napkin, and banana. last 20 steps: 1- keep the bowl upright Q: immediate next step? \u003cPRED\u003eA: pour chick peas into the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pour chick peas into the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pour me some cereal than grab me a spoon, napkin, and banana. last 20 steps: 1- keep the bowl upright Q: next 5 steps? \u003cPRED\u003eA: 1- pour chick peas into the bowl 2- put glass on the table 3- keep the glass straight 4- move glass to the right of bowl 5- put banana on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pour chick peas into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npour chick peas into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pour me some cereal than grab me a spoon, napkin, and banana Q: immediate next step? \u003cPRED\u003eA: pour chick peas into the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npour chick peas into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5925401167760261054.mp4"}
+{"uid":"2099775839395224206","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please carefully place the bananas into the fruit bow neatly. last 20 steps: 1- place the banana in the bowl 2- place the banana in the bowl 3- place the banana in the bowl 4- place the banana in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the banana in the bowl 2- place the banana in the bowl 3- place the banana in the bowl 4- place the banana in the bowl 5- place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please carefully place the bananas into the fruit bow neatly. last 20 steps: 1- place the banana in the bowl 2- place the banana in the bowl 3- place the banana in the bowl 4- place the banana in the bowl Q: immediate next step? \u003cPRED\u003eA: place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please carefully place the bananas into the fruit bow neatly Q: immediate next step? \u003cPRED\u003eA: place the banana in the bowl\n\u003c/PRED\u003e","video":"16843792802919645847.mp4"}
+{"uid":"15010980824384811661","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the lid on the existing lids in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15641513096435836832.mp4"}
+{"uid":"7095499079817573641","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please pour me some cereal than grab me a spoon, napkin, and banana Q: immediate next step? \u003cPRED\u003eA: put tissue paper on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put tissue paper on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put tissue paper on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pour me some cereal than grab me a spoon, napkin, and banana. last 20 steps: 1- keep the bowl upright 2- pour chick peas into the bowl 3- put glass on the table 4- keep the glass straight 5- move glass to the right of bowl 6- put banana on the table 7- move banana to the right of the bowl 8- take out a tissue paper Q: next 5 steps? \u003cPRED\u003eA: 1- put tissue paper on the table 2- move tissue paper to the up 3- put spoon in the bowl 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pour me some cereal than grab me a spoon, napkin, and banana. last 20 steps: 1- keep the bowl upright 2- pour chick peas into the bowl 3- put glass on the table 4- keep the glass straight 5- move glass to the right of bowl 6- put banana on the table 7- move banana to the right of the bowl 8- take out a tissue paper Q: immediate next step? \u003cPRED\u003eA: put tissue paper on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput tissue paper on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput tissue paper on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8109036973641055081.mp4"}
+{"uid":"12519428853300008833","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPour the chocolate balls in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pour me some cereal than grab me a spoon, napkin, and banana. last 20 steps: 1- keep the bowl upright Q: immediate next step? \u003cPRED\u003eA: Pour the chocolate balls in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPour the chocolate balls 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: Pour the chocolate balls in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pour me some cereal than grab me a spoon, napkin, and banana. last 20 steps: 1- keep the bowl upright Q: next 5 steps? \u003cPRED\u003eA: 1- Pour the chocolate balls in the bowl 2- keep the glass straight 3- move glass to the right of bowl 4- put banana on the table 5- move banana to the right of the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pour the chocolate balls in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pour me some cereal than grab me a spoon, napkin, and banana Q: immediate next step? \u003cPRED\u003eA: Pour the chocolate balls in the bowl\n\u003c/PRED\u003e","video":"6452026013064223563.mp4"}
+{"uid":"17308316023672708184","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nenter the hallway Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9688794625044959544.mp4"}
+{"uid":"12224955169706070378","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put nuts in small cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pour me some cereal than grab me a spoon, napkin, and banana. last 20 steps: 1- keep the bowl upright Q: next 5 steps? \u003cPRED\u003eA: 1- put nuts in small cup 2- keep the glass straight 3- move glass to the right of bowl 4- put banana on the table 5- move banana to the right of the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pour me some cereal than grab me a spoon, napkin, and banana. last 20 steps: 1- keep the bowl upright Q: immediate next step? \u003cPRED\u003eA: put nuts in small cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput nuts in small cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput nuts in small cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put nuts in small cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pour me some cereal than grab me a spoon, napkin, and banana Q: immediate next step? \u003cPRED\u003eA: put nuts in small cup\n\u003c/PRED\u003e","video":"5841807637187544969.mp4"}
+{"uid":"12008280023167384264","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the orange packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"738037018931110145.mp4"}
+{"uid":"3141119512949868695","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the tissue papers on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the tissue papers 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":"6343344213204127974.mp4"}
+{"uid":"16555663671005506045","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: please pour me some cereal than grab me a spoon, napkin, and banana 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pour me some cereal than grab me a spoon, napkin, and banana. last 20 steps: 1- keep the bowl upright 2- pour chick peas into the bowl 3- put glass on the table 4- keep the glass straight 5- move glass to the right of bowl 6- put banana on the table 7- move banana to the right of the bowl Q: immediate next step? \u003cPRED\u003eA: put tissue on table\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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put tissue on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pour me some cereal than grab me a spoon, napkin, and banana. last 20 steps: 1- keep the bowl upright 2- pour chick peas into the bowl 3- put glass on the table 4- keep the glass straight 5- move glass to the right of bowl 6- put banana on the table 7- move banana to the right of the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put tissue on table 2- put spoon in the bowl 3- done\n\u003c/PRED\u003e","video":"12624360263174972203.mp4"}
+{"uid":"474056284042955066","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"15679286451385872608.mp4"}
+{"uid":"13092446832415695988","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16883733656258368942.mp4"}
+{"uid":"17711328732064786583","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please carefully place the bananas into the fruit bow neatly. last 20 steps: 1- place the banana in the bowl 2- place the banana in the bowl 3- place the banana in the bowl 4- place the banana in the bowl 5- place the banana in the bowl 6- place the banana in the bowl 7- place the banana in the bowl 8- place the banana in the bowl Q: immediate next step? \u003cPRED\u003eA: place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please carefully place the bananas into the fruit bow neatly. last 20 steps: 1- place the banana in the bowl 2- place the banana in the bowl 3- place the banana in the bowl 4- place the banana in the bowl 5- place the banana in the bowl 6- place the banana in the bowl 7- place the banana in the bowl 8- place the banana in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the banana in the bowl 2- place the banana in the bowl 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please carefully place the bananas into the fruit bow neatly Q: immediate next step? \u003cPRED\u003eA: place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the banana in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4280571292793401477.mp4"}
+{"uid":"4539443410776379039","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":"12394256838788358075.mp4"}
+{"uid":"15247763507010852886","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the red pen inside the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13516279308999728539.mp4"}
+{"uid":"8383441802828653110","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the spoon in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the spoon in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pour me some cereal than grab me a spoon, napkin, and banana. last 20 steps: 1- keep the bowl upright 2- pour chick peas into the bowl 3- put glass on the table 4- keep the glass straight 5- move glass to the right of bowl 6- put banana on the table 7- move banana to the right of the bowl 8- take out a tissue paper 9- put tissue paper on the table 10- move tissue paper to the up Q: immediate next step? \u003cPRED\u003eA: Put the spoon in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pour me some cereal than grab me a spoon, napkin, and banana. last 20 steps: 1- keep the bowl upright 2- pour chick peas into the bowl 3- put glass on the table 4- keep the glass straight 5- move glass to the right of bowl 6- put banana on the table 7- move banana to the right of the bowl 8- take out a tissue paper 9- put tissue paper on the table 10- move tissue paper to the up Q: next 5 steps? \u003cPRED\u003eA: 1- Put the spoon in the bowl 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pour me some cereal than grab me a spoon, napkin, and banana Q: immediate next step? \u003cPRED\u003eA: Put the spoon in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the spoon in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the spoon in the bowl\n\u003c/PRED\u003e","video":"13807497197801905069.mp4"}
+{"uid":"14385938374108482121","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please carefully place the bananas into the fruit bow neatly. last 20 steps: 1- place the banana in the bowl 2- place the banana in the bowl 3- place the banana in the bowl 4- place the banana in the bowl 5- place the banana in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the banana in the bowl 2- place the banana in the bowl 3- place the banana in the bowl 4- place the banana in the bowl 5- place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please carefully place the bananas into the fruit bow neatly Q: immediate next step? \u003cPRED\u003eA: place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please carefully place the bananas into the fruit bow neatly. last 20 steps: 1- place the banana in the bowl 2- place the banana in the bowl 3- place the banana in the bowl 4- place the banana in the bowl 5- place the banana in the bowl Q: immediate next step? \u003cPRED\u003eA: place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16795676137345552565.mp4"}
+{"uid":"7389010734985288219","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please pour me some cereal than grab me a spoon, napkin, and banana Q: immediate next step? \u003cPRED\u003eA: move glass to the right of bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move glass to the right of bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove glass to the right of bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pour me some cereal than grab me a spoon, napkin, and banana. last 20 steps: 1- keep the bowl upright 2- pour chick peas into the bowl 3- put glass on the table 4- keep the glass straight Q: next 5 steps? \u003cPRED\u003eA: 1- move glass to the right of bowl 2- put banana on the table 3- move banana to the right of the bowl 4- take out a tissue paper 5- put tissue paper on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pour me some cereal than grab me a spoon, napkin, and banana. last 20 steps: 1- keep the bowl upright 2- pour chick peas into the bowl 3- put glass on the table 4- keep the glass straight Q: immediate next step? \u003cPRED\u003eA: move glass to the right of bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move glass to the right of bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove glass to the right of bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3905703856442884121.mp4"}
+{"uid":"5676398168332497094","text":"\u003ctask:success:discrete:True\u003e\nplace the banana in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the banana in the bowl\n\u003c/PRED\u003e","video":"11860088679995750341.mp4"}
+{"uid":"12049353764522886240","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please carefully place the bananas into the fruit bow neatly Q: immediate next step? \u003cPRED\u003eA: place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please carefully place the bananas into the fruit bow neatly. last 20 steps: 1- place the banana in the bowl 2- place the banana in the bowl 3- place the banana in the bowl 4- place the banana in the bowl 5- place the banana in the bowl 6- place the banana in the bowl 7- place the banana in the bowl 8- place the banana in the bowl 9- place the banana in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the banana in the bowl 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please carefully place the bananas into the fruit bow neatly. last 20 steps: 1- place the banana in the bowl 2- place the banana in the bowl 3- place the banana in the bowl 4- place the banana in the bowl 5- place the banana in the bowl 6- place the banana in the bowl 7- place the banana in the bowl 8- place the banana in the bowl 9- place the banana in the bowl Q: immediate next step? \u003cPRED\u003eA: place the banana in the bowl\n\u003c/PRED\u003e","video":"7732842065011999195.mp4"}
+{"uid":"12642614041347918370","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":"17882628064824588197.mp4"}
+{"uid":"382692496009843904","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pour me some cereal than grab me a spoon, napkin, and banana. last 20 steps: 1- keep the bowl upright 2- pour chick peas into the bowl 3- put glass on the table 4- keep the glass straight 5- move glass to the right of bowl 6- put banana on the table 7- move banana to the right of the bowl 8- take out a tissue paper 9- put tissue paper on the table 10- move tissue paper to the up Q: immediate next step? \u003cPRED\u003eA: put spoon in small cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put spoon in small cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput spoon in small cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pour me some cereal than grab me a spoon, napkin, and banana. last 20 steps: 1- keep the bowl upright 2- pour chick peas into the bowl 3- put glass on the table 4- keep the glass straight 5- move glass to the right of bowl 6- put banana on the table 7- move banana to the right of the bowl 8- take out a tissue paper 9- put tissue paper on the table 10- move tissue paper to the up Q: next 5 steps? \u003cPRED\u003eA: 1- put spoon in small cup 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put spoon in small cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput spoon in small cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pour me some cereal than grab me a spoon, napkin, and banana Q: immediate next step? \u003cPRED\u003eA: put spoon in small cup\n\u003c/PRED\u003e","video":"5785578357567531986.mp4"}
+{"uid":"13042968967037222250","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the blue packet in the draw Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1806284326238100595.mp4"}
+{"uid":"8435535029421856001","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: take out a tissue paper\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pour me some cereal than grab me a spoon, napkin, and banana. last 20 steps: 1- keep the bowl upright 2- pour chick peas into the bowl 3- put glass on the table 4- keep the glass straight 5- move glass to the right of bowl 6- put banana on the table 7- move banana to the right of the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- take out a tissue paper 2- put tissue paper on the table 3- move tissue paper to the up 4- put spoon in the bowl 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pour me some cereal than grab me a spoon, napkin, and banana. last 20 steps: 1- keep the bowl upright 2- pour chick peas into the bowl 3- put glass on the table 4- keep the glass straight 5- move glass to the right of bowl 6- put banana on the table 7- move banana to the right of the bowl Q: immediate next step? \u003cPRED\u003eA: take out a tissue paper\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: take out a tissue paper\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ntake out a tissue paper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pour me some cereal than grab me a spoon, napkin, and banana Q: immediate next step? \u003cPRED\u003eA: take out a tissue paper\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ntake out a tissue paper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6014492652139068746.mp4"}
+{"uid":"3177950954755408573","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput glass on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put glass on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput glass on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pour me some cereal than grab me a spoon, napkin, and banana. last 20 steps: 1- keep the bowl upright 2- pour chick peas into the bowl Q: immediate next step? \u003cPRED\u003eA: put glass on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pour me some cereal than grab me a spoon, napkin, and banana. last 20 steps: 1- keep the bowl upright 2- pour chick peas into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put glass on the table 2- keep the glass straight 3- move glass to the right of bowl 4- put banana on the table 5- move banana to the right of the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put glass on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pour me some cereal than grab me a spoon, napkin, and banana Q: immediate next step? \u003cPRED\u003eA: put glass on the table\n\u003c/PRED\u003e","video":"15195806076741219754.mp4"}
+{"uid":"10625515940607920897","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Place the blue black can on the table 2- Place the cold brew can on the table 3- Place the cold brew can on the table 4- Place the cold brew can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the cold brew can on the table 2- put can on the table 3- Place the blue black can on the table 4- Place the cold brew can on the table 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Place the blue black can on the table 2- Place the cold brew can on the table 3- Place the cold brew can on the table 4- Place the cold brew can on the table Q: immediate next step? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the cold brew can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e","video":"12662190084978285433.mp4"}
+{"uid":"17136330246164182797","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the blue black can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: Place the blue black can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the blue black can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Place the blue black can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the blue black can on the table 2- Place the cold brew can on the table 3- Place the cold brew can on the table 4- Place the cold brew can on the table 5- put can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the blue black can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Place the blue black can on the table Q: immediate next step? \u003cPRED\u003eA: Place the blue black can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the blue black can on the table\n\u003c/PRED\u003e","video":"17036772027390758307.mp4"}
+{"uid":"5457504939209106400","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":"14956847222863389785.mp4"}
+{"uid":"17690333350607759024","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Place the blue black can on the table 2- Place the cold brew can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the cold brew can on the table 2- Place the cold brew can on the table 3- Place the cold brew can on the table 4- put can on the table 5- Place the blue black can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the cold brew can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Place the blue black can on the table 2- Place the cold brew can on the table Q: immediate next step? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e","video":"1431606241063950867.mp4"}
+{"uid":"1020259550796302888","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":"10425756137891114486.mp4"}
+{"uid":"14279130866640784097","text":"\u003ctask:success:discrete:True\u003e\nPlace the oatmeal packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the oatmeal packet in the tray\n\u003c/PRED\u003e","video":"5996487631953012205.mp4"}
+{"uid":"682887124636897471","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nOpen the tap Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15255794152947346194.mp4"}
+{"uid":"14434366491985373298","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the blue black can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Place the blue black can on the table 2- Place the cold brew can on the table 3- Place the cold brew can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the blue black can on the table 2- Place the cold brew can on the table 3- put can on the table 4- Place the blue black can on the table 5- Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Place the blue black can on the table 2- Place the cold brew can on the table 3- Place the cold brew can on the table Q: immediate next step? \u003cPRED\u003eA: Place the blue black can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the blue black can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: Place the blue black can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the blue black can on the table\n\u003c/PRED\u003e","video":"12313567216227596463.mp4"}
+{"uid":"442644239173648925","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":"7970843671910953503.mp4"}
+{"uid":"8374779764454979943","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the oatmeal packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the oatmeal packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the oatmeal packets into the tray Q: immediate next step? \u003cPRED\u003eA: Place the oatmeal packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the oatmeal packets into the tray. last 20 steps: 1- Place the oatmeal packet in the tray 2- Place the oatmeal packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the oatmeal packet in the tray 2- Place the oatmeal packet in the tray 3- Place the oatmeal packet in the tray 4- Place the oatmeal packet in the tray 5- Place the oatmeal packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the oatmeal packets into the tray. last 20 steps: 1- Place the oatmeal packet in the tray 2- Place the oatmeal packet in the tray Q: immediate next step? \u003cPRED\u003eA: Place the oatmeal packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the oatmeal packet in the tray\n\u003c/PRED\u003e","video":"2053601041459307875.mp4"}
+{"uid":"6411681239968588751","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the knives 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":"15938886037123999212.mp4"}
+{"uid":"13475671919500332543","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the oatmeal packets into the tray. last 20 steps: 1- Place the oatmeal packet in the tray 2- Place the oatmeal packet in the tray 3- Place the oatmeal packet in the tray 4- Place the oatmeal packet in the tray 5- Place the oatmeal packet in the tray 6- Place the oatmeal packet in the tray 7- Place the oatmeal packet in the tray 8- Place the oatmeal packet in the tray 9- Place the oatmeal packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the oatmeal packet in the tray 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the oatmeal packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the oatmeal 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 place the oatmeal packets into the tray. last 20 steps: 1- Place the oatmeal packet in the tray 2- Place the oatmeal packet in the tray 3- Place the oatmeal packet in the tray 4- Place the oatmeal packet in the tray 5- Place the oatmeal packet in the tray 6- Place the oatmeal packet in the tray 7- Place the oatmeal packet in the tray 8- Place the oatmeal packet in the tray 9- Place the oatmeal packet in the tray Q: immediate next step? \u003cPRED\u003eA: Place the oatmeal packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the oatmeal packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the oatmeal packets into the tray Q: immediate next step? \u003cPRED\u003eA: Place the oatmeal packet in the tray\n\u003c/PRED\u003e","video":"810773314326811714.mp4"}
+{"uid":"1746665587737630156","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the chocolate on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"191252571333910160.mp4"}
+{"uid":"13623992154988555493","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the red packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18176487309665869925.mp4"}
+{"uid":"4649991874013640185","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the oatmeal packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the oatmeal packets into the tray. last 20 steps: 1- Place the oatmeal packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the oatmeal packet in the tray 2- Place the oatmeal packet in the tray 3- Place the oatmeal packet in the tray 4- Place the oatmeal packet in the tray 5- Place the oatmeal packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the oatmeal packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the oatmeal packets into the tray Q: immediate next step? \u003cPRED\u003eA: Place the oatmeal packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the oatmeal packets into the tray. last 20 steps: 1- Place the oatmeal packet in the tray Q: immediate next step? \u003cPRED\u003eA: Place the oatmeal packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the oatmeal packet in the tray\n\u003c/PRED\u003e","video":"10630761005467767818.mp4"}
+{"uid":"8421812009766134112","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Place the blue black can on the table 2- Place the cold brew can on the table 3- Place the cold brew can on the table 4- Place the cold brew can on the table 5- Place the cold brew can on the table 6- put can on the table 7- Place the blue black can on the table Q: immediate next step? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Place the blue black can on the table 2- Place the cold brew can on the table 3- Place the cold brew can on the table 4- Place the cold brew can on the table 5- Place the cold brew can on the table 6- put can on the table 7- Place the blue black can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put can on the table 2- done\n\u003c/PRED\u003e","video":"18253038704720406329.mp4"}
+{"uid":"11565535275371260914","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Place the blue black can on the table 2- Place the cold brew can on the table 3- Place the cold brew can on the table 4- Place the cold brew can on the table 5- Place the cold brew can on the table 6- put can on the table Q: immediate next step? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Place the blue black can on the table 2- Place the cold brew can on the table 3- Place the cold brew can on the table 4- Place the cold brew can on the table 5- Place the cold brew can on the table 6- put can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put can on the table 2- Place the cold brew can on the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e","video":"17473185402021531210.mp4"}
+{"uid":"8245430813137356993","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":"11543567001597331267.mp4"}
+{"uid":"5768982863630465660","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the oatmeal packets into the tray. last 20 steps: 1- Place the oatmeal packet in the tray 2- Place the oatmeal packet in the tray 3- Place the oatmeal packet in the tray 4- Place the oatmeal packet in the tray 5- Place the oatmeal packet in the tray 6- Place the oatmeal packet in the tray 7- Place the oatmeal packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the oatmeal packet in the tray 2- Place the oatmeal packet in the tray 3- Place the oatmeal packet in the tray 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the oatmeal packets into the tray Q: immediate next step? \u003cPRED\u003eA: Place the oatmeal packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the oatmeal packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the oatmeal packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the oatmeal packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the oatmeal packets into the tray. last 20 steps: 1- Place the oatmeal packet in the tray 2- Place the oatmeal packet in the tray 3- Place the oatmeal packet in the tray 4- Place the oatmeal packet in the tray 5- Place the oatmeal packet in the tray 6- Place the oatmeal packet in the tray 7- Place the oatmeal packet in the tray Q: immediate next step? \u003cPRED\u003eA: Place the oatmeal packet in the tray\n\u003c/PRED\u003e","video":"4535006700626260513.mp4"}
+{"uid":"5158259656126053648","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the oatmeal packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the oatmeal packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the oatmeal packets into the tray Q: immediate next step? \u003cPRED\u003eA: Place the oatmeal packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the oatmeal packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the oatmeal packets into the tray. last 20 steps: 1- Place the oatmeal packet in the tray 2- Place the oatmeal packet in the tray 3- Place the oatmeal packet in the tray 4- Place the oatmeal packet in the tray 5- Place the oatmeal packet in the tray Q: immediate next step? \u003cPRED\u003eA: Place the oatmeal packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the oatmeal packets into the tray. last 20 steps: 1- Place the oatmeal packet in the tray 2- Place the oatmeal packet in the tray 3- Place the oatmeal packet in the tray 4- Place the oatmeal packet in the tray 5- Place the oatmeal packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the oatmeal packet in the tray 2- Place the oatmeal packet in the tray 3- Place the oatmeal packet in the tray 4- Place the oatmeal packet in the tray 5- Place the oatmeal packet in the tray\n\u003c/PRED\u003e","video":"6996309307534929169.mp4"}
+{"uid":"10089986586929170445","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Place the blue black can on the table Q: immediate next step? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Place the blue black can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put can on the table 2- Place the cold brew can on the table 3- Place the cold brew can on the table 4- Place the cold brew can on the table 5- put can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e","video":"2217745681076085919.mp4"}
+{"uid":"14297899653120474892","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the oatmeal packets into the tray. last 20 steps: 1- Place the oatmeal packet in the tray 2- Place the oatmeal packet in the tray 3- Place the oatmeal packet in the tray 4- Place the oatmeal packet in the tray 5- Place the oatmeal packet in the tray 6- Place the oatmeal packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the oatmeal packet in the tray 2- Place the oatmeal packet in the tray 3- Place the oatmeal packet in the tray 4- Place the oatmeal packet in the tray 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the oatmeal packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the oatmeal packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the oatmeal packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the oatmeal packets into the tray Q: immediate next step? \u003cPRED\u003eA: Place the oatmeal packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the oatmeal packets into the tray. last 20 steps: 1- Place the oatmeal packet in the tray 2- Place the oatmeal packet in the tray 3- Place the oatmeal packet in the tray 4- Place the oatmeal packet in the tray 5- Place the oatmeal packet in the tray 6- Place the oatmeal packet in the tray Q: immediate next step? \u003cPRED\u003eA: Place the oatmeal packet in the tray\n\u003c/PRED\u003e","video":"15672727133652149020.mp4"}
+{"uid":"13209337725011721413","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the oatmeal packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the oatmeal packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14399305560308570490.mp4"}
+{"uid":"14288825915017355153","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the oatmeal packets into the tray. last 20 steps: 1- Place the oatmeal packet in the tray 2- Place the oatmeal packet in the tray 3- Place the oatmeal packet in the tray 4- Place the oatmeal packet in the tray 5- Place the oatmeal packet in the tray 6- Place the oatmeal packet in the tray 7- Place the oatmeal packet in the tray 8- Place the oatmeal packet in the tray 9- Place the oatmeal packet in the tray 10- Place the oatmeal 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: Place the oatmeal packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the oatmeal packets into the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the oatmeal packets into the tray. last 20 steps: 1- Place the oatmeal packet in the tray 2- Place the oatmeal packet in the tray 3- Place the oatmeal packet in the tray 4- Place the oatmeal packet in the tray 5- Place the oatmeal packet in the tray 6- Place the oatmeal packet in the tray 7- Place the oatmeal packet in the tray 8- Place the oatmeal packet in the tray 9- Place the oatmeal packet in the tray 10- Place the oatmeal packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the oatmeal packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3126095460849742009.mp4"}
+{"uid":"5105560631029716940","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the yellow packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13816720030591048546.mp4"}
+{"uid":"9652207366301825839","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose 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":"10956071888854640271.mp4"}
+{"uid":"16214190004491273936","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3482391146387111645.mp4"}
+{"uid":"14568423848673704366","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut oreos 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":"16551777737421297800.mp4"}
+{"uid":"2999862284714344153","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the oatmeal packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the oatmeal packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10873201328713652629.mp4"}
+{"uid":"8321868919540337414","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Place the blue black can on the table 2- Place the cold brew can on the table Q: immediate next step? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Place the blue black can on the table 2- Place the cold brew can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put can on the table 2- Place the cold brew can on the table 3- Place the cold brew can on the table 4- put can on the table 5- Place the blue black can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e","video":"3864680741933782436.mp4"}
+{"uid":"5281730554873426954","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the cups Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1776390987914471189.mp4"}
+{"uid":"14559646434269230854","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a white 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":"16781716252122847832.mp4"}
+{"uid":"3452671292256502987","text":"\u003ctask:success:discrete:True\u003e\nPlace the cold brew can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e","video":"731823822630093277.mp4"}
+{"uid":"2467770178082291019","text":"\u003ctask:success:discrete:True\u003e\nPlace the oatmeal packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the oatmeal packet in the tray\n\u003c/PRED\u003e","video":"832268241289798443.mp4"}
+{"uid":"5797317891161878850","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Place the blue black can on the table 2- Place the cold brew can on the table 3- Place the cold brew can on the table 4- Place the cold brew can on the table 5- Place the cold brew can on the table Q: immediate next step? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Place the blue black can on the table 2- Place the cold brew can on the table 3- Place the cold brew can on the table 4- Place the cold brew can on the table 5- Place the cold brew can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put can on the table 2- Place the blue black can on the table 3- Place the cold brew can on the table 4- done\n\u003c/PRED\u003e","video":"17055143483766369106.mp4"}
+{"uid":"4646261470786859380","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the oatmeal packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the oatmeal packets into the tray Q: immediate next step? \u003cPRED\u003eA: Place the oatmeal packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the oatmeal packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the oatmeal packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the oatmeal packets into the tray. last 20 steps: 1- Place the oatmeal packet in the tray 2- Place the oatmeal packet in the tray 3- Place the oatmeal packet in the tray 4- Place the oatmeal packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the oatmeal packet in the tray 2- Place the oatmeal packet in the tray 3- Place the oatmeal packet in the tray 4- Place the oatmeal packet in the tray 5- Place the oatmeal packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the oatmeal packets into the tray. last 20 steps: 1- Place the oatmeal packet in the tray 2- Place the oatmeal packet in the tray 3- Place the oatmeal packet in the tray 4- Place the oatmeal packet in the tray Q: immediate next step? \u003cPRED\u003eA: Place the oatmeal packet in the tray\n\u003c/PRED\u003e","video":"8828214925580157213.mp4"}
+{"uid":"8690767616888442818","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the oatmeal packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the oatmeal packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the oatmeal packets into the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place the oatmeal packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the oatmeal packets into the tray Q: immediate next step? \u003cPRED\u003eA: Place the oatmeal packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the oatmeal packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the oatmeal packets into the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place the oatmeal packet in the tray 2- Place the oatmeal packet in the tray 3- Place the oatmeal packet in the tray 4- Place the oatmeal packet in the tray 5- Place the oatmeal packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the oatmeal packet in the tray\n\u003c/PRED\u003e","video":"10542633594619462010.mp4"}
+{"uid":"4676134308697378831","text":"\u003ctask:success:discrete:True\u003e\nPlace the oatmeal packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the oatmeal packet in the tray\n\u003c/PRED\u003e","video":"13360939464434739601.mp4"}
+{"uid":"12089740404959513739","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Place the blue black can on the table 2- Place the cold brew can on the table 3- Place the cold brew can on the table 4- Place the cold brew can on the table 5- Place the cold brew can on the table Q: immediate next step? \u003cPRED\u003eA: Place the blue black can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the blue black can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the blue black can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: Place the blue black can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the blue black can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Place the blue black can on the table 2- Place the cold brew can on the table 3- Place the cold brew can on the table 4- Place the cold brew can on the table 5- Place the cold brew can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the blue black can on the table 2- Place the blue black can on the table 3- Place the cold brew can on the table 4- done\n\u003c/PRED\u003e","video":"15953435940345593963.mp4"}
+{"uid":"15764170734913023741","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Place the blue black can on the table 2- Place the cold brew can on the table 3- Place the cold brew can on the table 4- Place the cold brew can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put can on the table 2- put can on the table 3- Place the blue black can on the table 4- Place the cold brew can on the table 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Place the blue black can on the table 2- Place the cold brew can on the table 3- Place the cold brew can on the table 4- Place the cold brew can on the table Q: immediate next step? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e","video":"10601471461528903045.mp4"}
+{"uid":"6075129676097081749","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the chocolate in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5141961313734240414.mp4"}
+{"uid":"13201667272268216682","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the orange candy 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":"49576047111732139.mp4"}
+{"uid":"13382361552074597971","text":"\u003ctask:success:discrete:True\u003e\nPlace the oatmeal packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the oatmeal packet in the tray\n\u003c/PRED\u003e","video":"9710288643963611920.mp4"}
+{"uid":"5524639855401567585","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":"17459122248225958614.mp4"}
+{"uid":"14436253065768101543","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput bowl in the dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14473629931989018602.mp4"}
+{"uid":"1891766974268882097","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the yellow candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13569422119933477315.mp4"}
+{"uid":"8467484478928208601","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Place the blue black can on the table 2- Place the cold brew can on the table 3- Place the cold brew can on the table 4- Place the cold brew can on the table 5- Place the cold brew can on the table 6- put can on the table 7- Place the blue black can on the table Q: immediate next step? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Place the blue black can on the table 2- Place the cold brew can on the table 3- Place the cold brew can on the table 4- Place the cold brew can on the table 5- Place the cold brew can on the table 6- put can on the table 7- Place the blue black can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the cold brew can on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the cold brew can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e","video":"5204513363380541800.mp4"}
+{"uid":"2286863580893812601","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":"13859738552760771615.mp4"}
+{"uid":"8426466962451207927","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the right door of refrigerator Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5075579134606886363.mp4"}
+{"uid":"2919574541630368549","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":"10282671118722985512.mp4"}
+{"uid":"1312194905153366477","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":"862771053588711034.mp4"}
+{"uid":"14472198678088626443","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the cold brew can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the cold brew can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Place the blue black can on the table Q: immediate next step? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Place the blue black can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the cold brew can on the table 2- Place the cold brew can on the table 3- Place the cold brew can on the table 4- Place the cold brew can on the table 5- put can on the table\n\u003c/PRED\u003e","video":"11450454622865806180.mp4"}
+{"uid":"8177529705599446183","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput chocolates 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":"11865291646807310210.mp4"}
+{"uid":"5221670117992550043","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop packet 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":"188862793161104556.mp4"}
+{"uid":"14656508191596545992","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: Place the blue black can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the blue black can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the blue black can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place the blue black can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place the blue black can on the table 2- Place the cold brew can on the table 3- Place the cold brew can on the table 4- Place the cold brew can on the table 5- Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the blue black can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the blue black can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13888153163133160941.mp4"}
+{"uid":"9188959460197903947","text":"\u003ctask:success:discrete:True\u003e\nPlace the oatmeal packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the oatmeal packet in the tray\n\u003c/PRED\u003e","video":"11791522639544382459.mp4"}
+{"uid":"5550183343462715249","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the blue black can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Place the blue black can on the table 2- Place the cold brew can on the table 3- Place the cold brew can on the table 4- Place the cold brew can on the table 5- Place the cold brew can on the table 6- put can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the blue black can on the table 2- Place the cold brew can on the table 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Place the blue black can on the table 2- Place the cold brew can on the table 3- Place the cold brew can on the table 4- Place the cold brew can on the table 5- Place the cold brew can on the table 6- put can on the table Q: immediate next step? \u003cPRED\u003eA: Place the blue black can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the blue black can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: Place the blue black can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the blue black can on the table\n\u003c/PRED\u003e","video":"8808177117891724866.mp4"}
+{"uid":"1960145120182988232","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17067302078354196723.mp4"}
+{"uid":"13690731005667187765","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Place the blue black can on the table 2- Place the cold brew can on the table 3- Place the cold brew can on the table Q: immediate next step? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Place the blue black can on the table 2- Place the cold brew can on the table 3- Place the cold brew can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the cold brew can on the table 2- Place the cold brew can on the table 3- put can on the table 4- Place the blue black can on the table 5- Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the cold brew can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e","video":"15206610228369483218.mp4"}
+{"uid":"7550854999902273666","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nslightly move your arm forward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5997941555904474253.mp4"}
+{"uid":"15296331506125193094","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Place the blue black can on the table 2- Place the cold brew can on the table 3- Place the cold brew can on the table 4- Place the cold brew can on the table 5- Place the cold brew can on the table Q: immediate next step? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the cold brew can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Place the blue black can on the table 2- Place the cold brew can on the table 3- Place the cold brew can on the table 4- Place the cold brew can on the table 5- Place the cold brew can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the cold brew can on the table 2- Place the blue black can on the table 3- Place the cold brew can on the table 4- done\n\u003c/PRED\u003e","video":"2235563835917587549.mp4"}
+{"uid":"7856044128193995791","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove the packets to the left side Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2214213813466284761.mp4"}
+{"uid":"16767365034824998697","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the blue black can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the blue black can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Place the blue black can on the table 2- Place the cold brew can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the blue black can on the table 2- Place the cold brew can on the table 3- Place the cold brew can on the table 4- put can on the table 5- Place the blue black can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the blue black can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Place the blue black can on the table 2- Place the cold brew can on the table Q: immediate next step? \u003cPRED\u003eA: Place the blue black can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: Place the blue black can on the table\n\u003c/PRED\u003e","video":"14012105019851200235.mp4"}
+{"uid":"10221435803683479096","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the plastic glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5029851369245571327.mp4"}
+{"uid":"9966445450238269831","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Place the blue black can on the table 2- Place the cold brew can on the table 3- Place the cold brew can on the table 4- Place the cold brew can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the blue black can on the table 2- put can on the table 3- Place the blue black can on the table 4- Place the cold brew can on the table 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the blue black can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: Place the blue black can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Place the blue black can on the table 2- Place the cold brew can on the table 3- Place the cold brew can on the table 4- Place the cold brew can on the table Q: immediate next step? \u003cPRED\u003eA: Place the blue black can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the blue black can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the blue black can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11952165768977441336.mp4"}
+{"uid":"11652909672910505577","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the oatmeal packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the oatmeal packets into the tray. last 20 steps: 1- Place the oatmeal packet in the tray 2- Place the oatmeal packet in the tray 3- Place the oatmeal packet in the tray Q: immediate next step? \u003cPRED\u003eA: Place the oatmeal packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the oatmeal packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the oatmeal packets into the tray. last 20 steps: 1- Place the oatmeal packet in the tray 2- Place the oatmeal packet in the tray 3- Place the oatmeal packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the oatmeal packet in the tray 2- Place the oatmeal packet in the tray 3- Place the oatmeal packet in the tray 4- Place the oatmeal packet in the tray 5- Place the oatmeal packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the oatmeal packets into the tray Q: immediate next step? \u003cPRED\u003eA: Place the oatmeal packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the oatmeal 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":"7834627760645734456.mp4"}
+{"uid":"14118571123054101787","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place the cold brew can on the table 2- Place the cold brew can on the table 3- Place the cold brew can on the table 4- Place the cold brew can on the table 5- Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the cold brew can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the cold brew can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11188261042994051722.mp4"}
+{"uid":"16280470510006044736","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Place the blue black can on the table 2- Place the cold brew can on the table 3- Place the cold brew can on the table 4- Place the cold brew can on the table 5- Place the cold brew can on the table 6- put can on the table 7- Place the blue black can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the blue black can on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the blue black can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: Place the blue black can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the blue black can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the blue black can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Place the blue black can on the table 2- Place the cold brew can on the table 3- Place the cold brew can on the table 4- Place the cold brew can on the table 5- Place the cold brew can on the table 6- put can on the table 7- Place the blue black can on the table Q: immediate next step? \u003cPRED\u003eA: Place the blue black can on the table\n\u003c/PRED\u003e","video":"198989455595247202.mp4"}
+{"uid":"3597305101685234737","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Place the blue black can on the table 2- Place the cold brew can on the table 3- Place the cold brew can on the table 4- Place the cold brew can on the table 5- Place the cold brew can on the table 6- put can on the table Q: immediate next step? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the cold brew can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Place the blue black can on the table 2- Place the cold brew can on the table 3- Place the cold brew can on the table 4- Place the cold brew can on the table 5- Place the cold brew can on the table 6- put can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the cold brew can on the table 2- Place the cold brew can on the table 3- done\n\u003c/PRED\u003e","video":"2722076022273066107.mp4"}
+{"uid":"1019694150847856520","text":"\u003ctask:success:discrete:False\u003e\nput can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put can on the table 2- Place the cold brew can on the table 3- Place the cold brew can on the table 4- Place the cold brew can on the table 5- Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e","video":"4638194792749252115.mp4"}
+{"uid":"3225493037609596010","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":"12712371151318753761.mp4"}
+{"uid":"17549983317033954126","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":"8756373899203862898.mp4"}
+{"uid":"15081469544954900933","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the spoon on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11300976265342643545.mp4"}
+{"uid":"1743319105808603904","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove towards the house plants Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12805389982282350742.mp4"}
+{"uid":"16813803030069476085","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":"5947360702267692328.mp4"}
+{"uid":"8465338092338562264","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the oatmeal packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the oatmeal packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6906661924589310478.mp4"}
+{"uid":"6969908850602515697","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Place the blue black can on the table 2- Place the cold brew can on the table 3- Place the cold brew can on the table Q: immediate next step? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Place the blue black can on the table 2- Place the cold brew can on the table 3- Place the cold brew can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put can on the table 2- Place the cold brew can on the table 3- put can on the table 4- Place the blue black can on the table 5- Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e","video":"3812203924084415805.mp4"}
+{"uid":"6747611080437376181","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the oatmeal packets into the tray. last 20 steps: 1- Place the oatmeal packet in the tray 2- Place the oatmeal packet in the tray 3- Place the oatmeal packet in the tray 4- Place the oatmeal packet in the tray 5- Place the oatmeal packet in the tray 6- Place the oatmeal packet in the tray 7- Place the oatmeal packet in the tray 8- Place the oatmeal packet in the tray Q: immediate next step? \u003cPRED\u003eA: Place the oatmeal packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the oatmeal packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the oatmeal packets into the tray Q: immediate next step? \u003cPRED\u003eA: Place the oatmeal packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the oatmeal packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the oatmeal packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the oatmeal packets into the tray. last 20 steps: 1- Place the oatmeal packet in the tray 2- Place the oatmeal packet in the tray 3- Place the oatmeal packet in the tray 4- Place the oatmeal packet in the tray 5- Place the oatmeal packet in the tray 6- Place the oatmeal packet in the tray 7- Place the oatmeal packet in the tray 8- Place the oatmeal packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the oatmeal packet in the tray 2- Place the oatmeal packet in the tray 3- done\n\u003c/PRED\u003e","video":"10156418686846538376.mp4"}
+{"uid":"17903732829830838998","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace redbull can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place redbull can in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the red bull back into the tray. last 20 steps: 1- place can in the tray 2- place can in the tray 3- adjust the redbull can in the tray 4- place can in the tray 5- place can in the tray 6- place can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place redbull can in the tray 2- place can in the tray 3- place can in the tray 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the red bull back into the tray. last 20 steps: 1- place can in the tray 2- place can in the tray 3- adjust the redbull can in the tray 4- place can in the tray 5- place can in the tray 6- place can in the tray Q: immediate next step? \u003cPRED\u003eA: place redbull can in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the red bull back into the tray Q: immediate next step? \u003cPRED\u003eA: place redbull can in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place redbull can in the tray\n\u003c/PRED\u003e","video":"5836418491158347996.mp4"}
+{"uid":"8802489486957683447","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nkeep the bowl upright Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8651405682950212467.mp4"}
+{"uid":"15657061347407508141","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place redbull can in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace redbull can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9915488185779802071.mp4"}
+{"uid":"14537753037436794438","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove glass 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":"11287305866343034783.mp4"}
+{"uid":"13037618022431204548","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sticky notes in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18076905757308211567.mp4"}
+{"uid":"13350299239637990226","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the red bull back into the tray. last 20 steps: 1- place can in the tray 2- place can in the tray 3- adjust the redbull can in the tray 4- place can in the tray 5- place can in the tray 6- place can in the tray 7- place can in the tray Q: immediate next step? \u003cPRED\u003eA: place redbull can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace redbull can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the red bull back into the tray Q: immediate next step? \u003cPRED\u003eA: place redbull can in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place redbull can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place redbull can in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the red bull back into the tray. last 20 steps: 1- place can in the tray 2- place can in the tray 3- adjust the redbull can in the tray 4- place can in the tray 5- place can in the tray 6- place can in the tray 7- place can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place redbull can in the tray 2- place can in the tray 3- done\n\u003c/PRED\u003e","video":"8391437921838137489.mp4"}
+{"uid":"15814110864295161151","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2764870469891481648.mp4"}
+{"uid":"7614377496531783900","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":"13910604182268892353.mp4"}
+{"uid":"8339697592894456296","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the red bull back into the tray Q: immediate next step? \u003cPRED\u003eA: place can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the red bull back into the tray. last 20 steps: 1- place can in the tray 2- place can in the tray 3- adjust the redbull can in the tray 4- place can in the tray Q: immediate next step? \u003cPRED\u003eA: place can in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place can in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the red bull back into the tray. last 20 steps: 1- place can in the tray 2- place can in the tray 3- adjust the redbull can in the tray 4- place can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place can in the tray 2- place can in the tray 3- place can in the tray 4- place can in the tray 5- place can in the tray\n\u003c/PRED\u003e","video":"7878400933835779260.mp4"}
+{"uid":"8641393076628292539","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace redbull can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the red bull back into the tray Q: immediate next step? \u003cPRED\u003eA: place redbull can in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the red bull back into the tray. last 20 steps: 1- place can in the tray Q: immediate next step? \u003cPRED\u003eA: place redbull can in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the red bull back into the tray. last 20 steps: 1- place can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place redbull can in the tray 2- adjust the redbull can in the tray 3- place can in the tray 4- place can in the tray 5- place can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place redbull can in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place redbull can in the tray\n\u003c/PRED\u003e","video":"5712433632445343141.mp4"}
+{"uid":"13966959869068160650","text":"\u003ctask:success:discrete:True\u003e\nplace can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place can in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the red bull back into the tray. last 20 steps: 1- place can in the tray Q: immediate next step? \u003cPRED\u003eA: place can in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the red bull back into the tray Q: immediate next step? \u003cPRED\u003eA: place can in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place can in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the red bull back into the tray. last 20 steps: 1- place can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place can in the tray 2- adjust the redbull can in the tray 3- place can in the tray 4- place can in the tray 5- place can in the tray\n\u003c/PRED\u003e","video":"8470194759679515083.mp4"}
+{"uid":"4277581198496776420","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7336028820258421453.mp4"}
+{"uid":"3899522122331047558","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the red bull back into the tray Q: immediate next step? \u003cPRED\u003eA: place can in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the red bull back into the tray. last 20 steps: 1- place can in the tray 2- place can in the tray 3- adjust the redbull can in the tray 4- place can in the tray 5- place can in the tray 6- place can in the tray 7- place can in the tray Q: immediate next step? \u003cPRED\u003eA: place can in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place can in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the red bull back into the tray. last 20 steps: 1- place can in the tray 2- place can in the tray 3- adjust the redbull can in the tray 4- place can in the tray 5- place can in the tray 6- place can in the tray 7- place can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place can in the tray 2- place can in the tray 3- done\n\u003c/PRED\u003e","video":"16048918369589327056.mp4"}
+{"uid":"11022540512393716940","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace that napkin on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16735772481427685670.mp4"}
+{"uid":"13115533606912162923","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":"354781127431305047.mp4"}
+{"uid":"1731422314953521975","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the red bull back into the tray. last 20 steps: 1- place can in the tray 2- place can in the tray 3- adjust the redbull can in the tray Q: immediate next step? \u003cPRED\u003eA: place can in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the red bull back into the tray Q: immediate next step? \u003cPRED\u003eA: place can in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place can in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the red bull back into the tray. last 20 steps: 1- place can in the tray 2- place can in the tray 3- adjust the redbull can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place can in the tray 2- place can in the tray 3- place can in the tray 4- place can in the tray 5- place can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place can in the tray\n\u003c/PRED\u003e","video":"13413492752227309076.mp4"}
+{"uid":"4646892409310564033","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"16696396769181492401.mp4"}
+{"uid":"11477601145357037527","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the tissue box from 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":"11844387493558682350.mp4"}
+{"uid":"5716022398501863254","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the red bull back into the tray. last 20 steps: 1- place can in the tray 2- place can in the tray 3- adjust the redbull can in the tray 4- place can in the tray 5- place can in the tray 6- place can in the tray Q: immediate next step? \u003cPRED\u003eA: Place the red bull can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the red bull can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the red bull can in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the red bull back into the tray Q: immediate next step? \u003cPRED\u003eA: Place the red bull can in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the red bull back into the tray. last 20 steps: 1- place can in the tray 2- place can in the tray 3- adjust the redbull can in the tray 4- place can in the tray 5- place can in the tray 6- place can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the red bull can in the tray 2- place can in the tray 3- place can in the tray 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the red bull can in the tray\n\u003c/PRED\u003e","video":"5931064036342435457.mp4"}
+{"uid":"6271594258800452991","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":"3717945084814566330.mp4"}
+{"uid":"15192437305348724212","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the red bull back into the tray Q: immediate next step? \u003cPRED\u003eA: place redbull can in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the red bull back into the tray. last 20 steps: 1- place can in the tray 2- place can in the tray 3- adjust the redbull can in the tray 4- place can in the tray 5- place can in the tray 6- place can in the tray 7- place can in the tray 8- place can in the tray Q: immediate next step? \u003cPRED\u003eA: place redbull can in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place redbull can in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the red bull back into the tray. last 20 steps: 1- place can in the tray 2- place can in the tray 3- adjust the redbull can in the tray 4- place can in the tray 5- place can in the tray 6- place can in the tray 7- place can in the tray 8- place can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place redbull can in the tray 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace redbull can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place redbull can in the tray\n\u003c/PRED\u003e","video":"4164642817160518080.mp4"}
+{"uid":"9889546880471494318","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the red bull back into the tray Q: immediate next step? \u003cPRED\u003eA: Place the red bull can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the red bull can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the red bull can in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the red bull back into the tray. last 20 steps: 1- place can in the tray 2- place can in the tray 3- adjust the redbull can in the tray 4- place can in the tray 5- place can in the tray 6- place can in the tray 7- place can in the tray Q: immediate next step? \u003cPRED\u003eA: Place the red bull can in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the red bull back into the tray. last 20 steps: 1- place can in the tray 2- place can in the tray 3- adjust the redbull can in the tray 4- place can in the tray 5- place can in the tray 6- place can in the tray 7- place can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the red bull can in the tray 2- place can in the tray 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the red bull can in the tray\n\u003c/PRED\u003e","video":"8808646302774012119.mp4"}
+{"uid":"9329084438404480965","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the red bull back into the tray. last 20 steps: 1- place can in the tray 2- place can in the tray 3- adjust the redbull can in the tray 4- place can in the tray 5- place can in the tray 6- place can in the tray 7- place can in the tray 8- place can in the tray Q: immediate next step? \u003cPRED\u003eA: place can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place can in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place can in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the red bull back into the tray Q: immediate next step? \u003cPRED\u003eA: place can in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the red bull back into the tray. last 20 steps: 1- place can in the tray 2- place can in the tray 3- adjust the redbull can in the tray 4- place can in the tray 5- place can in the tray 6- place can in the tray 7- place can in the tray 8- place can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place can in the tray 2- done\n\u003c/PRED\u003e","video":"10909912268343888337.mp4"}
+{"uid":"8344965725337774418","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":"13889616345851115155.mp4"}
+{"uid":"9381779380152954552","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the candy 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":"14415241881737985950.mp4"}
+{"uid":"11839024455233183009","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the bananas on the paper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1285858272809226803.mp4"}
+{"uid":"12117556090716879559","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the red bull back into the tray. last 20 steps: 1- place can in the tray 2- place can in the tray 3- adjust the redbull can in the tray 4- place can in the tray 5- place can in the tray 6- place can in the tray Q: immediate next step? \u003cPRED\u003eA: place can in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the red bull back into the tray Q: immediate next step? \u003cPRED\u003eA: place can in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place can in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the red bull back into the tray. last 20 steps: 1- place can in the tray 2- place can in the tray 3- adjust the redbull can in the tray 4- place can in the tray 5- place can in the tray 6- place can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place can in the tray 2- place can in the tray 3- place can in the tray 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14978584550022849155.mp4"}
+{"uid":"17298818940463090780","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the red bull can in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the red bull can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8641619243055342126.mp4"}
+{"uid":"3678647924116359032","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nadjust the redbull can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the red bull back into the tray. last 20 steps: 1- place can in the tray 2- place can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- adjust the redbull can in the tray 2- place can in the tray 3- place can in the tray 4- place can in the tray 5- place can in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: adjust the redbull can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: adjust the redbull can in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the red bull back into the tray. last 20 steps: 1- place can in the tray 2- place can in the tray Q: immediate next step? \u003cPRED\u003eA: adjust the redbull can in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the red bull back into the tray Q: immediate next step? \u003cPRED\u003eA: adjust the redbull can in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nadjust the redbull can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8197778662349356924.mp4"}
+{"uid":"12470008952680293403","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the red bull back into the tray. last 20 steps: 1- place can in the tray 2- place can in the tray 3- adjust the redbull can in the tray 4- place can in the tray 5- place can in the tray Q: immediate next step? \u003cPRED\u003eA: place can in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place can in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the red bull back into the tray. last 20 steps: 1- place can in the tray 2- place can in the tray 3- adjust the redbull can in the tray 4- place can in the tray 5- place can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place can in the tray 2- place can in the tray 3- place can in the tray 4- place can in the tray 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the red bull back into the tray Q: immediate next step? \u003cPRED\u003eA: place can in the tray\n\u003c/PRED\u003e","video":"7081135959904719370.mp4"}
+{"uid":"9331245279444656556","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place redbull can in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place redbull can in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the red bull back into the tray. last 20 steps: 1- place can in the tray 2- place can in the tray 3- adjust the redbull can in the tray Q: immediate next step? \u003cPRED\u003eA: place redbull can in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace redbull can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the red bull back into the tray. last 20 steps: 1- place can in the tray 2- place can in the tray 3- adjust the redbull can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place redbull can in the tray 2- place can in the tray 3- place can in the tray 4- place can in the tray 5- place can in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the red bull back into the tray Q: immediate next step? \u003cPRED\u003eA: place redbull can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace redbull can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13077962769682131394.mp4"}
+{"uid":"2771787293406885396","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the red bull back into the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place the red bull can in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the red bull can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the red bull back into the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place the red bull can in the tray 2- place can in the tray 3- adjust the redbull can in the tray 4- place can in the tray 5- place can in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the red bull back into the tray Q: immediate next step? \u003cPRED\u003eA: Place the red bull can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the red bull can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the red bull can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the red bull can in the tray\n\u003c/PRED\u003e","video":"14590831944773039520.mp4"}
+{"uid":"10895333159453585716","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the red bull can in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the red bull can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4698416817671072987.mp4"}
+{"uid":"8330438553196184406","text":"\u003ctask:success:discrete:True\u003e\nplace can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place can in the tray\n\u003c/PRED\u003e","video":"17488395780060397282.mp4"}
+{"uid":"16612365340042931601","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the red bull back into the tray. last 20 steps: 1- place can in the tray Q: immediate next step? \u003cPRED\u003eA: Place the red bull can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the red bull can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the red bull can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the red bull back into the tray Q: immediate next step? \u003cPRED\u003eA: Place the red bull can in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the red bull back into the tray. last 20 steps: 1- place can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the red bull can in the tray 2- adjust the redbull can in the tray 3- place can in the tray 4- place can in the tray 5- place can in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the red bull can in the tray\n\u003c/PRED\u003e","video":"14581503231028654495.mp4"}
+{"uid":"6654513035133972983","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place can in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16953902855364980368.mp4"}
+{"uid":"12943329331972975221","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":"13841818469973185119.mp4"}
+{"uid":"7991549998123583235","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nexit the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5088441350868921967.mp4"}
+{"uid":"9956230159533644493","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the sanitizer bottle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4802366183131267002.mp4"}
+{"uid":"18202731424756858484","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the red bull back into the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place redbull can in the tray 2- place can in the tray 3- adjust the redbull can in the tray 4- place can in the tray 5- place can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace redbull can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the red bull back into the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place redbull can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place redbull can in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place redbull can in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the red bull back into the tray Q: immediate next step? \u003cPRED\u003eA: place redbull can in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace redbull can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5905471408807963668.mp4"}
+{"uid":"1706843238003733388","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place can in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the red bull back into the tray. last 20 steps: 1- place can in the tray 2- place can in the tray 3- adjust the redbull can in the tray 4- place can in the tray 5- place can in the tray 6- place can in the tray 7- place can in the tray 8- place can in the tray 9- place can in the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the red bull back into the tray. last 20 steps: 1- place can in the tray 2- place can in the tray 3- adjust the redbull can in the tray 4- place can in the tray 5- place can in the tray 6- place can in the tray 7- place can in the tray 8- place can in the tray 9- place can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the red bull back into the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"921562142573419219.mp4"}
+{"uid":"16839841215564325781","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove the bowl forward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3478956224123681366.mp4"}
+{"uid":"14997882594992735239","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a packet 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":"7683170486072708394.mp4"}
+{"uid":"8413755643487498468","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the green marker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18148508878694080999.mp4"}
+{"uid":"6813826079445127080","text":"\u003ctask:success:discrete:False\u003e\nplace redbull can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the red bull back into the tray. last 20 steps: 1- place can in the tray 2- place can in the tray 3- adjust the redbull can in the tray 4- place can in the tray 5- place can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place redbull can in the tray 2- place can in the tray 3- place can in the tray 4- place can in the tray 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place redbull can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place redbull can in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the red bull back into the tray. last 20 steps: 1- place can in the tray 2- place can in the tray 3- adjust the redbull can in the tray 4- place can in the tray 5- place can in the tray Q: immediate next step? \u003cPRED\u003eA: place redbull can in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the red bull back into the tray Q: immediate next step? \u003cPRED\u003eA: place redbull can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace redbull can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16966951511277227890.mp4"}
+{"uid":"15313834093479758415","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":"10552091257567621091.mp4"}
+{"uid":"3524918105806958774","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the red bull can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the red bull can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the red bull back into the tray Q: immediate next step? \u003cPRED\u003eA: Place the red bull can in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the red bull can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the red bull back into the tray. last 20 steps: 1- place can in the tray 2- place can in the tray 3- adjust the redbull can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the red bull can in the tray 2- place can in the tray 3- place can in the tray 4- place can in the tray 5- place can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the red bull can in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the red bull back into the tray. last 20 steps: 1- place can in the tray 2- place can in the tray 3- adjust the redbull can in the tray Q: immediate next step? \u003cPRED\u003eA: Place the red bull can in the tray\n\u003c/PRED\u003e","video":"17796103847523039440.mp4"}
+{"uid":"13696420903239876990","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the red bull can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the red bull can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the red bull back into the tray Q: immediate next step? \u003cPRED\u003eA: Place the red bull can in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the red bull back into the tray. last 20 steps: 1- place can in the tray 2- place can in the tray 3- adjust the redbull can in the tray 4- place can in the tray 5- place can in the tray 6- place can in the tray 7- place can in the tray 8- place can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the red bull can in the tray 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the red bull can in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the red bull back into the tray. last 20 steps: 1- place can in the tray 2- place can in the tray 3- adjust the redbull can in the tray 4- place can in the tray 5- place can in the tray 6- place can in the tray 7- place can in the tray 8- place can in the tray Q: immediate next step? \u003cPRED\u003eA: Place the red bull can in the tray\n\u003c/PRED\u003e","video":"3476237314750322087.mp4"}
+{"uid":"1214762944617877397","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place redbull can in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace redbull can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3338978560726699125.mp4"}
+{"uid":"12749022237631836226","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the red bull can in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the red bull back into the tray Q: immediate next step? \u003cPRED\u003eA: Place the red bull can in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the red bull back into the tray. last 20 steps: 1- place can in the tray 2- place can in the tray 3- adjust the redbull can in the tray 4- place can in the tray 5- place can in the tray Q: immediate next step? \u003cPRED\u003eA: Place the red bull can in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the red bull back into the tray. last 20 steps: 1- place can in the tray 2- place can in the tray 3- adjust the redbull can in the tray 4- place can in the tray 5- place can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the red bull can in the tray 2- place can in the tray 3- place can in the tray 4- place can in the tray 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the red bull can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the red bull can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2433553121644795054.mp4"}
+{"uid":"12535124892472984057","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the red bull can in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the red bull can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18129471731772356629.mp4"}
+{"uid":"4373824041483073591","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the red bull can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the red bull back into the tray. last 20 steps: 1- place can in the tray 2- place can in the tray 3- adjust the redbull can in the tray 4- place can in the tray Q: immediate next step? \u003cPRED\u003eA: Place the red bull can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the red bull can in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the red bull can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the red bull can in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the red bull back into the tray Q: immediate next step? \u003cPRED\u003eA: Place the red bull can in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the red bull back into the tray. last 20 steps: 1- place can in the tray 2- place can in the tray 3- adjust the redbull can in the tray 4- place can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the red bull can in the tray 2- place can in the tray 3- place can in the tray 4- place can in the tray 5- place can in the tray\n\u003c/PRED\u003e","video":"8541738407904335545.mp4"}
+{"uid":"3393951877224496969","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place can in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14220108601644358640.mp4"}
+{"uid":"13544300142643936363","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace redbull can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place redbull can in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the red bull back into the tray. last 20 steps: 1- place can in the tray 2- place can in the tray 3- adjust the redbull can in the tray 4- place can in the tray Q: immediate next step? \u003cPRED\u003eA: place redbull can in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace redbull can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the red bull back into the tray. last 20 steps: 1- place can in the tray 2- place can in the tray 3- adjust the redbull can in the tray 4- place can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place redbull can in the tray 2- place can in the tray 3- place can in the tray 4- place can in the tray 5- place can in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the red bull back into the tray Q: immediate next step? \u003cPRED\u003eA: place redbull can in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place redbull can in the tray\n\u003c/PRED\u003e","video":"16471381618906670252.mp4"}
+{"uid":"4508971181414542191","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place can in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2915372159791452201.mp4"}
+{"uid":"3600916700053502290","text":"\u003ctask:success:discrete:True\u003e\nPlace the red bull can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the red bull can in the tray\n\u003c/PRED\u003e","video":"9781979625828006474.mp4"}
+{"uid":"17307196052893257033","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place can in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10644104542874469673.mp4"}
+{"uid":"3606122447701773808","text":"\u003ctask:success:discrete:True\u003e\nplace redbull can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place redbull can in the tray\n\u003c/PRED\u003e","video":"11212553899590728753.mp4"}
+{"uid":"9340490817382684614","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":"7769620435605489769.mp4"}
+{"uid":"4326228795221255775","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place redbull can in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace redbull can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16278286857920406050.mp4"}
+{"uid":"3054240204499787638","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nTurn to the hanger Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6383563076814029133.mp4"}
+{"uid":"4972210605102073332","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place can in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17191085941721541095.mp4"}
+{"uid":"6939181564780922803","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace spoon in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3473339763639453347.mp4"}
+{"uid":"9428023420979650310","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut  the instant oatmeal pack on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13421521276034924904.mp4"}
+{"uid":"15841145855402382938","text":"\u003ctask:success:discrete:True\u003e\nPlace the red bull can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the red bull can in the tray\n\u003c/PRED\u003e","video":"13415828826593762315.mp4"}
+{"uid":"11286470893603825138","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet. last 20 steps: 1- open the drawer 2- Place the yellow cup on the table Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet. last 20 steps: 1- open the drawer 2- Place the yellow cup on the table Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- move cup to the left 3- Place the spoon in the cup 4- place the tissues on the table 5- put tea bag on the tissue paper\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":"5692391956257473187.mp4"}
+{"uid":"15429865015698312393","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- Place the yellow cup on the table 3- close the drawer 4- move cup to the left 5- Place the spoon in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e","video":"12161607975086500701.mp4"}
+{"uid":"16856148810892993209","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the orange 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":"10534318817707968348.mp4"}
+{"uid":"11189258978017644443","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the numi tea bag on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet. last 20 steps: 1- open the drawer 2- Place the yellow cup on the table 3- close the drawer 4- move cup to the left 5- Place the spoon in the cup 6- place the tissues on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the numi tea bag on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the numi tea bag on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the numi tea bag on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet Q: immediate next step? \u003cPRED\u003eA: Place the numi tea bag on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet. last 20 steps: 1- open the drawer 2- Place the yellow cup on the table 3- close the drawer 4- move cup to the left 5- Place the spoon in the cup 6- place the tissues on the table Q: immediate next step? \u003cPRED\u003eA: Place the numi tea bag on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the numi tea bag on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13080141469068320890.mp4"}
+{"uid":"4663914622699427313","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet Q: immediate next step? \u003cPRED\u003eA: move cup to the left\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move cup to the left\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet. last 20 steps: 1- open the drawer 2- Place the yellow cup on the table 3- close the drawer Q: immediate next step? \u003cPRED\u003eA: move cup to the left\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet. last 20 steps: 1- open the drawer 2- Place the yellow cup on the table 3- close the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- move cup to the left 2- Place the spoon in the cup 3- place the tissues on the table 4- put tea bag on the tissue paper 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move cup to the left\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove cup to the left Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove cup 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","video":"9767493044484728542.mp4"}
+{"uid":"624081995251242434","text":"\u003ctask:success:discrete:False\u003e\nPlace the spoon in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the spoon in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet Q: immediate next step? \u003cPRED\u003eA: Place the spoon in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the spoon in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet. last 20 steps: 1- open the drawer 2- Place the yellow cup on the table 3- close the drawer 4- move cup to the left Q: immediate next step? \u003cPRED\u003eA: Place the spoon in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the spoon in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet. last 20 steps: 1- open the drawer 2- Place the yellow cup on the table 3- close the drawer 4- move cup to the left Q: next 5 steps? \u003cPRED\u003eA: 1- Place the spoon in the cup 2- place the tissues on the table 3- put tea bag on the tissue paper 4- done\n\u003c/PRED\u003e","video":"6348612247473520672.mp4"}
+{"uid":"1926533636694207190","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet. last 20 steps: 1- open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Place the yellow cup on the table 2- close the drawer 3- move cup to the left 4- Place the spoon in the cup 5- place the tissues on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the yellow cup on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet Q: immediate next step? \u003cPRED\u003eA: Place the yellow cup on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet. last 20 steps: 1- open the drawer Q: immediate next step? \u003cPRED\u003eA: Place the yellow cup on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the yellow cup on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the yellow cup on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the yellow cup on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7452888737484468071.mp4"}
+{"uid":"7678281190155714183","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on tissue\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet. last 20 steps: 1- open the drawer 2- Place the yellow cup on the table 3- close the drawer 4- move cup to the left 5- Place the spoon in the cup 6- place the tissues on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on tissue 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on tissue\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet Q: immediate next step? \u003cPRED\u003eA: put packet on tissue\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet. last 20 steps: 1- open the drawer 2- Place the yellow cup on the table 3- close the drawer 4- move cup to the left 5- Place the spoon in the cup 6- place the tissues on the table Q: immediate next step? \u003cPRED\u003eA: put packet on tissue\n\u003c/PRED\u003e","video":"5849343525530266822.mp4"}
+{"uid":"6248104827583774087","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput can in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6509769146787836294.mp4"}
+{"uid":"9921217427745243522","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the paemesan garlic & herb 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":"11661207957098033889.mp4"}
+{"uid":"110727405058877483","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":"16165053794002285695.mp4"}
+{"uid":"8974572414853335038","text":"\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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put tissue on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet. last 20 steps: 1- open the drawer 2- Place the yellow cup on the table 3- close the drawer 4- move cup to the left 5- Place the spoon in the cup 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put tissue on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet. last 20 steps: 1- open the drawer 2- Place the yellow cup on the table 3- close the drawer 4- move cup to the left 5- Place the spoon in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put tissue on table 2- put tea bag on the tissue paper 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet Q: immediate next step? \u003cPRED\u003eA: put tissue on table\n\u003c/PRED\u003e","video":"6838342792560111954.mp4"}
+{"uid":"10370356490548288796","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: please grab me a spoon, napkin, mug from the drawer, and a tea packet Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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: please grab me a spoon, napkin, mug from the drawer, and a tea packet. last 20 steps: 1- open the drawer 2- Place the yellow cup on the table Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet. last 20 steps: 1- open the drawer 2- Place the yellow cup on the table Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- move cup to the left 3- Place the spoon in the cup 4- place the tissues on the table 5- put tea bag on the tissue paper\n\u003c/PRED\u003e","video":"18006075679277947097.mp4"}
+{"uid":"1348362471208224906","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet Q: immediate next step? \u003cPRED\u003eA: put tea bag on the tissue paper\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put tea bag on the tissue paper\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet. last 20 steps: 1- open the drawer 2- Place the yellow cup on the table 3- close the drawer 4- move cup to the left 5- Place the spoon in the cup 6- place the tissues on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put tea bag on the tissue paper 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput tea bag on the tissue paper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput tea bag on the tissue paper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put tea bag on the tissue paper\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet. last 20 steps: 1- open the drawer 2- Place the yellow cup on the table 3- close the drawer 4- move cup to the left 5- Place the spoon in the cup 6- place the tissues on the table Q: immediate next step? \u003cPRED\u003eA: put tea bag on the tissue paper\n\u003c/PRED\u003e","video":"5823563671586970829.mp4"}
+{"uid":"6704799479230396009","text":"\u003ctask:success:discrete:False\u003e\npick the 2 objects from the fridge Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please provide snacks to employees . last 20 steps: 1- open the fridge Q: immediate next step? \u003cPRED\u003eA: pick the 2 objects from the fridge\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please provide snacks to employees . last 20 steps: 1- open the fridge Q: next 5 steps? \u003cPRED\u003eA: 1- pick the 2 objects from the fridge 2- place the 2 objects on the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the 2 objects from the fridge Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the 2 objects from the fridge\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the 2 objects from the fridge\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please provide snacks to employees Q: immediate next step? \u003cPRED\u003eA: pick the 2 objects from the fridge\n\u003c/PRED\u003e","video":"4983067744299563622.mp4"}
+{"uid":"10476053428065491395","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput cup on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put cup on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put cup on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet. last 20 steps: 1- open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put cup on the table 2- close the drawer 3- move cup to the left 4- Place the spoon in the cup 5- place the tissues on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet Q: immediate next step? \u003cPRED\u003eA: put cup on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput cup on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet. last 20 steps: 1- open the drawer Q: immediate next step? \u003cPRED\u003eA: put cup on the table\n\u003c/PRED\u003e","video":"8660718769922464529.mp4"}
+{"uid":"5188430155152959341","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nExit the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2303027517394480575.mp4"}
+{"uid":"6335893175784278593","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packets 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":"646962859521358740.mp4"}
+{"uid":"11844882123419301034","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1499691336513322882.mp4"}
+{"uid":"6203561945488443136","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the blue pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3773542424444177652.mp4"}
+{"uid":"14956170615098388658","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a green 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":"16670628763603396537.mp4"}
+{"uid":"4624155227501131066","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet Q: immediate next step? \u003cPRED\u003eA: Open the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Open the drawer 2- Place the yellow cup on the table 3- close the drawer 4- move cup to the left 5- Place the spoon in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Open the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nOpen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Open the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open the drawer\n\u003c/PRED\u003e","video":"2014039984498608833.mp4"}
+{"uid":"4945948802994416723","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput red packet in the brown tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3008852902544321372.mp4"}
+{"uid":"1132053964103308871","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the 2 objects on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 2 objects on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please provide snacks to employees . last 20 steps: 1- open the fridge 2- pick the 2 objects from the fridge Q: immediate next step? \u003cPRED\u003eA: place the 2 objects on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please provide snacks to employees Q: immediate next step? \u003cPRED\u003eA: place the 2 objects on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the 2 objects on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please provide snacks to employees . last 20 steps: 1- open the fridge 2- pick the 2 objects from the fridge Q: next 5 steps? \u003cPRED\u003eA: 1- place the 2 objects on the table 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the 2 objects on the table\n\u003c/PRED\u003e","video":"17607494261160007060.mp4"}
+{"uid":"1259069979859612518","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet. last 20 steps: 1- open the drawer 2- Place the yellow cup on the table 3- close the drawer 4- move cup to the left 5- Place the spoon in the cup 6- place the tissues on the table 7- put tea bag on the tissue paper Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput tea bag on the tissue paper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet. last 20 steps: 1- open the drawer 2- Place the yellow cup on the table 3- close the drawer 4- move cup to the left 5- Place the spoon in the cup 6- place the tissues on the table 7- put tea bag on the tissue paper Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put tea bag on the tissue paper\n\u003c/PRED\u003e","video":"4442225404620391155.mp4"}
+{"uid":"4350801748587277675","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pistachios on the table from the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10496487633883238508.mp4"}
+{"uid":"2234797875148627744","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":"17504441225367002081.mp4"}
+{"uid":"768213621731174550","text":"\u003ctask:success:discrete:True\u003e\nPlace the spoon in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the spoon in the cup\n\u003c/PRED\u003e","video":"3019490550996965963.mp4"}
+{"uid":"7616973942126064279","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14462620662618200317.mp4"}
+{"uid":"11032920332129100353","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: adjust the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: adjust the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nadjust the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nadjust the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet. last 20 steps: 1- open the drawer 2- Place the yellow cup on the table 3- close the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- adjust the cup 2- Place the spoon in the cup 3- place the tissues on the table 4- put tea bag on the tissue paper 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet Q: immediate next step? \u003cPRED\u003eA: adjust the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet. last 20 steps: 1- open the drawer 2- Place the yellow cup on the table 3- close the drawer Q: immediate next step? \u003cPRED\u003eA: adjust the cup\n\u003c/PRED\u003e","video":"1348105180378228342.mp4"}
+{"uid":"414153707526839422","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet. last 20 steps: 1- open the drawer 2- Place the yellow cup on the table 3- close the drawer 4- move cup to the left 5- Place the spoon in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put tissue paper on the table 2- put tea bag on the tissue paper 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put tissue paper on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet. last 20 steps: 1- open the drawer 2- Place the yellow cup on the table 3- close the drawer 4- move cup to the left 5- Place the spoon in the cup Q: immediate next step? \u003cPRED\u003eA: put tissue paper on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet Q: immediate next step? \u003cPRED\u003eA: put tissue paper on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput tissue paper on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput tissue paper on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put tissue paper on the table\n\u003c/PRED\u003e","video":"3389248262397616670.mp4"}
+{"uid":"2666797967773719756","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the fridge\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please provide snacks to employees . last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the fridge\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please provide snacks to employees . last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the fridge 2- pick the 2 objects from the fridge 3- place the 2 objects on the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the fridge\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please provide snacks to employees Q: immediate next step? \u003cPRED\u003eA: open the fridge\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the fridge Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the fridge Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16899532864470402739.mp4"}
+{"uid":"145958518429930445","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nStack up the paper glasses from the black table to the brown table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10288494913694016546.mp4"}
+{"uid":"12347792583419437982","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput spoon in cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet. last 20 steps: 1- open the drawer 2- Place the yellow cup on the table 3- close the drawer 4- move cup to the left Q: next 5 steps? \u003cPRED\u003eA: 1- put spoon in cup 2- place the tissues on the table 3- put tea bag on the tissue paper 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put spoon in cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet Q: immediate next step? \u003cPRED\u003eA: put spoon in cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put spoon in cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput spoon in cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet. last 20 steps: 1- open the drawer 2- Place the yellow cup on the table 3- close the drawer 4- move cup to the left Q: immediate next step? \u003cPRED\u003eA: put spoon in cup\n\u003c/PRED\u003e","video":"1958084406706903185.mp4"}
+{"uid":"2526189500933171396","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet Q: immediate next step? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet. last 20 steps: 1- open the drawer 2- Place the yellow cup on the table Q: immediate next step? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nClose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet. last 20 steps: 1- open the drawer 2- Place the yellow cup on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Close the drawer 2- move cup to the left 3- Place the spoon in the cup 4- place the tissues on the table 5- put tea bag on the tissue paper\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nClose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14582631796820386278.mp4"}
+{"uid":"1519410851220733601","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the tissues on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the tissues on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet. last 20 steps: 1- open the drawer 2- Place the yellow cup on the table 3- close the drawer 4- move cup to the left 5- Place the spoon in the cup Q: immediate next step? \u003cPRED\u003eA: place the tissues on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet. last 20 steps: 1- open the drawer 2- Place the yellow cup on the table 3- close the drawer 4- move cup to the left 5- Place the spoon in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- place the tissues on the table 2- put tea bag on the tissue paper 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet Q: immediate next step? \u003cPRED\u003eA: place the tissues on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the tissues on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the tissues on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1627069912016184328.mp4"}
+{"uid":"11289760962301607830","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":"6501810467432561479.mp4"}
+{"uid":"2356912844607736576","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":"14160617467402961289.mp4"}
+{"uid":"2199691622750249253","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":"2296787142813154210.mp4"}
+{"uid":"3024842122447999525","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the tissues on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the tissues on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3489495674289824770.mp4"}
+{"uid":"17598882438253220474","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nunstack the  orange 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":"12367133676759809695.mp4"}
+{"uid":"12958716572472512594","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":"762329005073529316.mp4"}
+{"uid":"13315443945911440538","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":"11374040056729784638.mp4"}
+{"uid":"12674623338416829294","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put spoon in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput spoon in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7361780998300550763.mp4"}
+{"uid":"14454807611399159071","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the 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":"17772471519624499460.mp4"}
+{"uid":"1617535288997973902","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the gray 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":"17758729787640695598.mp4"}
+{"uid":"1164762774513805160","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove close to the left chair Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1274250677230776810.mp4"}
+{"uid":"5205562217401045178","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":"6439305350756838356.mp4"}
+{"uid":"15965160303836274697","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet Q: immediate next step? \u003cPRED\u003eA: put spoon in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput spoon in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput spoon in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put spoon in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet. last 20 steps: 1- open the drawer 2- Place the yellow cup on the table 3- close the drawer 4- move cup to the left Q: next 5 steps? \u003cPRED\u003eA: 1- put spoon in the cup 2- place the tissues on the table 3- put tea bag on the tissue paper 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet. last 20 steps: 1- open the drawer 2- Place the yellow cup on the table 3- close the drawer 4- move cup to the left Q: immediate next step? \u003cPRED\u003eA: put spoon in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put spoon in the cup\n\u003c/PRED\u003e","video":"2869990196863892048.mp4"}
+{"uid":"8711432774772722538","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put cup on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput cup on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7093440820168481515.mp4"}
+{"uid":"1068336643977517093","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the yellow cup on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the yellow cup on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1503417488088728751.mp4"}
+{"uid":"9518540453571785459","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- Place the yellow cup on the table 3- close the drawer 4- move cup to the left 5- Place the spoon in the cup\n\u003c/PRED\u003e","video":"9047076451103906648.mp4"}
+{"uid":"16641895262906281428","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet. last 20 steps: 1- open the drawer 2- Place the yellow cup on the table 3- close the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Move the cup to the center of the table 2- Place the spoon in the cup 3- place the tissues on the table 4- put tea bag on the tissue paper 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove the cup to the center 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:discriminative:discrete:True\u003e\nMove the cup to the center of the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet. last 20 steps: 1- open the drawer 2- Place the yellow cup on the table 3- close the drawer Q: immediate next step? \u003cPRED\u003eA: Move the cup to the center of the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move the cup to the center of the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet Q: immediate next step? \u003cPRED\u003eA: Move the cup to the center of the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move the cup to the center of the table\n\u003c/PRED\u003e","video":"14704620365898365056.mp4"}
+{"uid":"3881281835753125367","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put cup on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput 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\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put cup on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet. last 20 steps: 1- open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put cup on table 2- close the drawer 3- move cup to the left 4- Place the spoon in the cup 5- place the tissues on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet. last 20 steps: 1- open the drawer Q: immediate next step? \u003cPRED\u003eA: put cup on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet Q: immediate next step? \u003cPRED\u003eA: put cup on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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","video":"1994680323843797600.mp4"}
+{"uid":"6134723601512903071","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove away from the button Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9546199378902160109.mp4"}